WO2013020796A1 - Procédé pour faire fonctionner un dispositif d'assistance à la conduite, ainsi que dispositif d'assistance à la conduite - Google Patents

Procédé pour faire fonctionner un dispositif d'assistance à la conduite, ainsi que dispositif d'assistance à la conduite Download PDF

Info

Publication number
WO2013020796A1
WO2013020796A1 PCT/EP2012/064303 EP2012064303W WO2013020796A1 WO 2013020796 A1 WO2013020796 A1 WO 2013020796A1 EP 2012064303 W EP2012064303 W EP 2012064303W WO 2013020796 A1 WO2013020796 A1 WO 2013020796A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
phase
braking force
torque
deceleration
Prior art date
Application number
PCT/EP2012/064303
Other languages
German (de)
English (en)
Inventor
Esther WENZEL
Roman SCHLEICHER
Manfred Holzmann
Eiko HAENSEL
Marc Arnon
Simon DORNSTETTER
Alexander Breu
Serdar Sen
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 WO2013020796A1 publication Critical patent/WO2013020796A1/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
    • B60T7/22—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
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18054—Propelling the vehicle related to particular drive situations at stand still, e.g. engine in idling state
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0072—Controller asks driver to take over
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the invention relates to a method for operating a
  • Driver assistance device performs an environment monitoring of the motor vehicle and initiates a braking process with a certain initial braking force in case of risk of collision with an obstacle.
  • the invention further relates to a driver assistance device.
  • the driver assistance device is intended to avoid collisions or at least to reduce a collision severity.
  • the driver assistance device or a system affiliated with it carries out the environmental monitoring of the motor vehicle.
  • at least one sensor arrangement with at least one sensor is provided in particular.
  • the sensor is, for example, a distance sensor, by means of which the presence of an obstacle in the environment of the
  • Motor vehicle can be determined to the obstacle.
  • the sensor is preferably arranged to detect the obstacle in the direction of travel or main direction of travel of the motor vehicle. Under the Hauptfahrtriclhtung is to be understood a direction which towards a
  • Vehicle longitudinal axis in front of the vehicle is. Be at the Environment monitoring detected an obstacle or multiple obstacles, the collision risk is determined for the obstacle or each of the obstacles. This is for example a rating
  • the driver assistance device prevents the collision
  • the braking force is proportional to a braking deceleration of the motor vehicle, ie to a negative acceleration.
  • the terms braking force and braking deceleration are used synonymously.
  • the braking force can also describe the set on a brake system of the motor vehicle for deceleration of the motor vehicle force or the brake pressure.
  • the initial braking force can, for example, a maximum braking force of the
  • Brake system of the motor vehicle or at least a fraction of this correspond.
  • it can also be a substantially arbitrary,
  • the motor vehicle preferably be specific braking force due to an operating size of the motor vehicle.
  • the operating size is, for example, the
  • the first negative acceleration should initially be limited in order to avoid that a false estimate of the current situation by an environment sensor and electronics of the motor vehicle to a critical hard braking leads. Only if the driver does not respond to the autonomous deceleration with the first acceleration, then the second, larger negative acceleration is used to avert the impending collision.
  • the driver assistance device in critical situations in which a driver of the motor vehicle makes a mistake in the management of the motor vehicle (for example, because he is inattentive or too late or wrongly responds) briefly at least partially takes over the leadership of the motor vehicle and corrective intervention.
  • the driver assistance device is designed such that it engages very late in the leadership of the motor vehicle to correct the error of the driver.
  • the braking process is so far introduced with a relatively large initial braking force in order to avoid the collision with the obstacle can. Due to the large initial braking force, the duration of the braking process is usually low. At the same time strong inertial forces act on the driver.
  • a nodding of the motor vehicle occur and additionally act on the driver.
  • the driver must take over the leadership of the motor vehicle as soon as possible again.
  • the driver is distracted or inattentive at the time of performing the braking or has a long reaction time, he is due to the braking initially possibly at least for a short time disoriented and therefore can not react properly, so even the leadership of the motor vehicle not yet again high reliability itself.
  • Driver assistance device with the features of claim 1 has the advantage that the driver despite the implementation of the braking process with a
  • the invention provides that after reaching the Initialbremskraft a Deceleration braking force determined and the braking process in one
  • Deceleration braking force is less than the initial braking force. It is, as known from the prior art, the braking process with the specific
  • the initial braking phase is followed by the deceleration phase.
  • the deceleration braking force should be less than
  • Vehicle preload and the braking process is for the driver
  • the pitch of the motor vehicle which is excited by the braking process, significantly weaker and has a lower amplitude.
  • the driver is so far less affected than known from the prior art method.
  • the braking operation is initiated only when the current speed of the motor vehicle - which before the
  • Braking process is present - less than or equal to a certain
  • a development of the invention provides that the deceleration phase immediately after reaching the initial braking force or after a
  • Initial braking phase is initiated with a certain Initialbremszeitdauer, preferably the deceleration phase to a standstill of Motor vehicle is continued.
  • the actually present braking force is usually adjusted over a certain period of time in the direction of the initial braking force. It may, as known from the prior art, be provided initially to use a smaller braking force and set only after failure of a reaction of the driver within a certain reaction period, the braking force to the initial braking force.
  • the initial braking phase can be ended and the deceleration phase can be initiated.
  • the delay phase follows in this respect directly to the initial braking phase.
  • the deceleration phase can also be initiated only after the initial braking phase has been carried out over the specific initial braking time duration. During the deceleration phase, the braking operation is continued with the deceleration braking force. This is preferably provided to a standstill of the motor vehicle. After carrying out the
  • a development of the invention provides that the Initialbremszeitdauer, the Initialbremskraft, the delay brake duration and / or the
  • Deceleration braking force depending on at least one operating variable of the motor vehicle, in particular the speed, the distance to the obstacle and / or the relative speed of the motor vehicle to the obstacle, are determined.
  • Initial braking force are preferably determined such that until the initiation of the subsequent to the initial braking phase deceleration phase, the risk of collision is eliminated or at least significantly reduced. Accordingly, within the initial braking time period, the braking operation is performed with the initial braking force such that the motor vehicle is decelerated to a speed at which the risk of collision with the obstacle no longer exists or at least is no longer probable. For this purpose, the Initial brake duration and / or the initial braking force in dependence on the at least one operating variable of the motor vehicle determined. Accordingly, additionally or alternatively, the deceleration braking force and the
  • Delay brake time as a function of the at least one
  • Operating size of the motor vehicle are set to give the driver of the motor vehicle opportunity to reorient themselves so that he can perform the driving of the motor vehicle itself after the completion of the braking process. In this way, the comfort for the driver is to be increased even during the autonomous execution of the braking process.
  • the aforementioned variables are determined once, continuously or at intervals during the braking process.
  • the one-time determination means that the respective variable is determined at the beginning of the respective phase.
  • a continuous tracking of the respective size is provided. If the determination is provided at intervals, then there is a certain period of time between two points in time in which the respective variable is to be determined, so that no continuous determination takes place.
  • a development of the invention provides that after reaching the standstill of the motor vehicle, the braking operation is continued in a holding phase with a holding brake force over a holding brake period.
  • the holding phase is preferably immediately after reaching the standstill of
  • the holding brake force is constant in particular over time and preferably corresponds to the deceleration braking force at the time of completion of the
  • Garbremszeitdauer can be fixed preset, but also, for example, depending on the severity of the braking process, so the Initial braking time, the initial braking force, the delay brake duration and / or the deceleration braking force determined.
  • a development of the invention provides that after reaching the standstill of the motor vehicle and / or after the holding phase of the braking operation is continued in a roll-up with a Anrollbremskraft over a Anrollbremszeitdauer, the Anrollbremskraft reduced over the Anrollbremszeitdauer to zero and over time as a function of a state variable of the motor vehicle, in particular an inclination of the motor vehicle, a loading state and / or a direction of movement of the motor vehicle, is determined. Accordingly, the start-up phase or the deceleration phase should be followed by the start-up phase. In this the braking process with the
  • Anrollbremskraft continued over the Anrollbremszeitdauer.
  • the Anrollbremskraft is reduced to zero.
  • the driver of the vehicle is thus given the opportunity controls the
  • the Anrollbremskraft is preferably determined in dependence on the at least one state variable of the motor vehicle.
  • the state variable is in particular the inclination of the motor vehicle or the background of the motor vehicle, the loading state and / or the direction of movement.
  • Motor vehicle is directed against the main direction of travel.
  • the motor vehicle moves - usually due to the influence of gravity and against a driver's request - backwards. Because the movement is due to the influence of gravity and (at least predominantly) is not effected by the drive system of the motor vehicle, the direction of movement can also be referred to as rolling direction.
  • Anrollbremskraft over time the course of Anrollbremskraft over time is determined.
  • a development of the invention provides that at least during a present at least during the deceleration phase
  • Torque reduction phase a target torque of a drive system of Motor vehicle smaller than a default torque of a driver of the motor vehicle, in particular equal to a minimum torque of a drive system is selected.
  • the torque reduction phase is thus initiated in particular at the beginning of the deceleration phase or even already at the beginning of the initial braking phase or the braking process.
  • Torque reduction phase runs parallel to initial braking phase, deceleration phase, holding phase and / or start-up phase.
  • the torque reduction phase is during the entire initial braking phase and the entire deceleration phase, ie in particular to standstill of
  • the default torque of the driver is the moment, which he
  • the desired torque of the drive system that is, the torque which is set on the drive system, substantially equal to
  • Target torque of the drive system can be selected smaller than the default torque, so that the drive system does not work against the brake of the motor vehicle during the braking process. Because no moment is needed to accelerate the motor vehicle during the initial braking phase or the deceleration phase, it is advantageous if the nominal torque is completely decoupled from the default torque during the torque reduction phase and equal to the minimum torque of the drive system is selected, ie the moment, which is just an operation of the drive system.
  • the minimum torque must be at least equal to a loss torque, which is present for example due to friction losses.
  • the desired torque should usually be greater than the minimum torque, if desired by the driver - to facilitate starting of the motor vehicle on a slope.
  • the filtering of the minimum torque should usually be greater than the minimum torque, if desired by the driver - to facilitate starting of the motor vehicle on a slope.
  • Preset torque during the entire braking process including the holding phase and the start-up, be performed.
  • the torque reduction phase may be provided to carry out the torque reduction phase over a minimum period of time. This means that, for example, after completion of the deceleration phase, the torque reduction phase continues until the minimum time duration has been reached or exceeded.
  • Minimum duration is chosen such that it is the driver of the
  • a development of the invention provides that to the
  • Torque build-up phase and / or the desired torque over time as a function of the state variable, preferably the inclination of the motor vehicle, the loading state and / or the direction of movement of the motor vehicle can be determined.
  • the torque buildup phase can run parallel to the initial brake phase, the deceleration phase, the hold phase and / or the startup phase.
  • the torque buildup phase immediately follows the torque reduction phase.
  • Torque-building phase is to increase the torque kept constant during the torque reduction phase again, in particular to the
  • the torque buildup time may depend on the state quantity. This also applies to the desired torque or to the course of the desired torque over time during the torque buildup phase.
  • the matching is achieved by filtering. The matching can be stopped when falling below a minimum difference between the setpoint torque and the setpoint torque so as not to reach the setpoint torque by the setpoint torque
  • the setpoint torque is set equal to the default torque.
  • Motor vehicle is also easily possible on a slope. So there is a direction of movement of the motor vehicle, which against one
  • a development of the invention provides that the
  • Momentsreduzi mecanicsphase and / or the torque buildup phase are aborted when the driver, in particular by means of at least one accelerator pedal, performs a cancellation action and / or a maximum period of time is exceeded.
  • Situations are conceivable in which the driver wants to accelerate the motor vehicle again immediately after the braking process. If, however, the nominal torque is subjected to filtering during the torque reduction phase or the torque build-up phase so that it is smaller than the default torque, then such acceleration is not possible.
  • the driver should be able to signal to the driver assistance device that, despite the braking process, an acceleration is desired which is stronger than that which can be achieved by means of the momentarily present desired torque.
  • the demolition action is provided, which can be carried out for example by means of the at least one accelerator pedal.
  • the abort action is in particular a pedal change, for example, from a brake pedal to an accelerator pedal, an accelerator pedal zero crossing, ie a complete unloading and subsequent re-actuation of the accelerator pedal, and / or a pumping operation of the accelerator pedal. Under the latter is a quick, multiple pressing the Understood accelerator pedal.
  • Torque reduction phase and / or the torque build-up phase are aborted when a maximum time period is reached or exceeded. It is therefore intended to reduce the torque only over a limited period of time, namely the maximum period of time, because it is assumed that the driver, after the maximum period has elapsed, will take over the leadership of the driver
  • Torque build-up phase aborted and then the target torque adjusted to the default torque or set to this.
  • a development of the invention provides that with the initiation of
  • At least one reversible belt tensioner for tightening a seat belt is activated.
  • the motor vehicle therefore has the belt tensioner, which is reversible, that allows a multiple activation.
  • the belt tensioners of all safety belts are activated, but in particular only the belt tensioners, which seats are assigned, which are actually occupied. By activating the belt tensioner is the
  • the invention further relates to a driver assistance device of a
  • Braking is provided with a certain initial braking force in case of collision with an obstacle.
  • the driver assistance device should be designed to achieve this after reaching the initial braking force
  • the driver assistance device can also be provided for carrying out further driving support measures.
  • the method which is to be carried out by means of the driver assistance device can be developed as described above.
  • Figure is a diagram in which a braking force and a target brake pressure are plotted over time.
  • the figure shows a diagram in which two curves 1 and 2 each have a braking force or deceleration a and a curve 3 a desired brake pressure p So ii over the time t are plotted.
  • the course 1 shows the braking deceleration, which is predetermined by a known from the prior art driver assistance device, while the course 2 predetermined by a driver assistance device according to the invention
  • Braking delay reflects.
  • the target brake pressure of the curve 3 corresponds to the braking delay according to course 2. It should again on it
  • braking force and braking deceleration are used interchangeably and are interchangeable. Instead of an initial braking force can therefore be talk of the initial brake delay, without resulting in another meaning.
  • t ⁇ t ! is a motor vehicle, not shown here in a normal driving operation, with no braking operation is performed.
  • Motor vehicle has the driver assistance device, which a
  • Driver assistance device a braking operation with a specific
  • a deceleration phase is initiated, which is carried out in the exemplary embodiment shown here between t 4 ⁇ tst 6 .
  • Retarder brake duration At v continued with a retarding brake force, wherein the deceleration braking force is smaller than the initial braking force.
  • the deceleration phase is up to a standstill of the motor vehicle
  • the initial braking time duration, the initial braking force, the delay braking time duration and / or the deceleration braking force can be determined as a function of at least one operating variable of the motor vehicle.
  • the operating variable for example, the speed of the motor vehicle, the distance of the motor vehicle to the obstacle and / or the relative speed of the motor vehicle to understand the obstacle.
  • the braking operation in a holding phase with a holding brake force a H over a holding brake period At H should be continued.
  • the holding brake period here corresponds to the period between t 6 ⁇ t ⁇ t 7 .
  • the holding brake force remains constant.
  • Holding brake duration is for example given a constant.
  • the holding phase is followed by a start-up phase of the motor vehicle.
  • the braking operation with a Anrollbremskraft over a
  • Start-up phase corresponds to the holding brake force or the holding brake force at the end of the holding phase.
  • the Anrollbremskraft should now on the
  • Anrollbremszeitdauer At A be reduced to zero.
  • a linear reduction over time t can be provided.
  • the Anrollbremskraft also depending on a state variable of the
  • the state variable is in particular an inclination of the motor vehicle or of a roadway on which the motor vehicle is located and / or a loading state of the motor vehicle. After the start of the braking process is stopped, so that the
  • Inventive course 2 of the braking force a gentler deceleration of the motor vehicle, so that the driver after reaching standstill has sufficient time to adapt to the changed driving situation and subsequently resume the driving itself.

Landscapes

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

Abstract

L'invention concerne un procédé de fonctionnement d'un dispositif d'assistance à la conduite d'un véhicule automobile, dans lequel le dispositif d'assistance à la conduite effectue une surveillance de l'environnement du véhicule automobile et, en cas de risque de collision avec un obstacle, commande une opération de freinage avec une force initiale de freinage prédéterminée. Selon l'invention, après que soit atteinte la force initiale de freinage, une force de freinage de ralentissement est déterminée et l'opération de freinage est poursuivie sous cette forme dans une phase de ralentissement, la force de freinage de ralentissement étant inférieure à la force initiale de freinage. L'invention concerne en outre un dispositif d'assistance à la conduite pour un véhicule automobile.
PCT/EP2012/064303 2011-08-09 2012-07-20 Procédé pour faire fonctionner un dispositif d'assistance à la conduite, ainsi que dispositif d'assistance à la conduite WO2013020796A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011109842.2 2011-08-09
DE102011109842.2A DE102011109842B4 (de) 2011-08-09 2011-08-09 Verfahren zum Betreiben einer Fahrerassistenzeinrichtung sowie Fahrerassistenzeinrichtung

Publications (1)

Publication Number Publication Date
WO2013020796A1 true WO2013020796A1 (fr) 2013-02-14

Family

ID=46642492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/064303 WO2013020796A1 (fr) 2011-08-09 2012-07-20 Procédé pour faire fonctionner un dispositif d'assistance à la conduite, ainsi que dispositif d'assistance à la conduite

Country Status (2)

Country Link
DE (1) DE102011109842B4 (fr)
WO (1) WO2013020796A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110654342A (zh) * 2018-06-29 2020-01-07 罗伯特·博世有限公司 用于触发车辆中的乘员保护机构的方法
CN112440951A (zh) * 2019-09-02 2021-03-05 罗伯特·博世有限公司 用于车辆自动制动的方法、装置和系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019002787A1 (de) 2019-04-16 2020-10-22 Daimler Ag Verfahren und Vorrichtung zum automatisierten Notstoppen

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19654769A1 (de) * 1996-12-30 1998-07-02 Teves Gmbh Alfred Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung
WO2000061412A1 (fr) * 1999-04-12 2000-10-19 Continental Teves Ag & Co. Ohg Procede pour commander un vehicule
DE10047048A1 (de) * 2000-09-22 2002-04-11 Daimler Chrysler Ag Verfahren und Einrichtung in einem Fahrzeug zum selbsttätigen Beschleunigen und Verzögern
DE102006034411A1 (de) * 2006-07-25 2008-01-31 Robert Bosch Gmbh Vorrichtung zur Geschwindigkeits- und Anhalteregelung in Kraftfahrzeugen
DE102008056204A1 (de) 2008-11-06 2010-05-12 Continental Teves Ag & Co. Ohg Fahrerassistenz zum autonomen Bremsen
US20110160974A1 (en) * 2009-12-25 2011-06-30 Advics Co., Ltd. Vehicle stop control device and vehicle stop control method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3926925B2 (ja) 1998-05-27 2007-06-06 日産自動車株式会社 先行車追従制御装置
JP2004521028A (ja) 2001-07-11 2004-07-15 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 車両の減速を作動させて実施する方法および装置
DE102005036217B4 (de) 2005-08-02 2022-10-06 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung zur Sicherstellung des Stillstandes eines Kraftfahrzeuges
DE102006056627B4 (de) 2006-11-30 2023-03-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Sicherstellung des Stillstandes eines Kraftfahrzeuges

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19654769A1 (de) * 1996-12-30 1998-07-02 Teves Gmbh Alfred Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung
WO2000061412A1 (fr) * 1999-04-12 2000-10-19 Continental Teves Ag & Co. Ohg Procede pour commander un vehicule
DE10047048A1 (de) * 2000-09-22 2002-04-11 Daimler Chrysler Ag Verfahren und Einrichtung in einem Fahrzeug zum selbsttätigen Beschleunigen und Verzögern
DE102006034411A1 (de) * 2006-07-25 2008-01-31 Robert Bosch Gmbh Vorrichtung zur Geschwindigkeits- und Anhalteregelung in Kraftfahrzeugen
DE102008056204A1 (de) 2008-11-06 2010-05-12 Continental Teves Ag & Co. Ohg Fahrerassistenz zum autonomen Bremsen
US20110160974A1 (en) * 2009-12-25 2011-06-30 Advics Co., Ltd. Vehicle stop control device and vehicle stop control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110654342A (zh) * 2018-06-29 2020-01-07 罗伯特·博世有限公司 用于触发车辆中的乘员保护机构的方法
CN112440951A (zh) * 2019-09-02 2021-03-05 罗伯特·博世有限公司 用于车辆自动制动的方法、装置和系统

Also Published As

Publication number Publication date
DE102011109842A1 (de) 2013-02-14
DE102011109842B4 (de) 2021-09-16

Similar Documents

Publication Publication Date Title
EP2917079B1 (fr) Dispositif de freinage pour un véhicule à moteur, comportant un ralentissement préalable préparatoire, et procédé permettant de commander un tel dispositif de freinage
EP2758291B1 (fr) Système d'aide à la conduite avec freinage autonome jusqu'à l'arrêt
EP1638824B1 (fr) Procede et dispositif de desactivation d'une fonction anti-recul
EP1827939B1 (fr) Aide au demarrage pour vehicule automobile
EP2517936B1 (fr) Véhicule automobile comprenant un système d'assistance au conducteur
DE102013210672B4 (de) Parkassistenzsystem umfassend einen Geschwindigkeitsregler mit I-Anteil zur Überwindung eines Bodenhindernisses
DE102005003274A1 (de) Verfahren und Vorrichtung zur Vermeidung und/oder Minderung der Folgen von Kollisionen beim Ausweichen vor Hindernissen
WO2015188958A1 (fr) Dispositif de détection et procédé pour exécuter ou renforcer l'établissement d'une pression de freinage dans un système de freinage au moyen d'un servofrein actif
DE102005037965A1 (de) Verfahren zum Betrieb einer mittels Fremdkraft betätigbaren Festellbremse
DE102017218669A1 (de) Verfahren und Vorrichtung zum Betreiben eines teil- oder vollautonom fahrbaren Kraftfahrzeugs
WO2008052828A1 (fr) Dispositif de régulation de l'écartement d'une automobile
DE102009052227A1 (de) Verfahren zum Betreiben eines Kraftfahrzeugs
EP3802243B1 (fr) Procédé et dispositif permettant d'éviter qu'un véhicule se trouvant à l'arrêt ne roule ou ne démarre de manière intempestive ou incontrôlée
WO2013020796A1 (fr) Procédé pour faire fonctionner un dispositif d'assistance à la conduite, ainsi que dispositif d'assistance à la conduite
DE102013008830B3 (de) Verfahren zur Erkennung einer Beschädigung eines Bauteils des Lenkstrangs eines Kraftfahrzeugs sowie ein dazugehöriges Kraftfahrzeug
EP3300974A1 (fr) Procédé et dispositif de commande d'un dispositif de freinage pour un véhicule, dispositif de freinage et véhicule
WO2021204489A1 (fr) Procédé de fonctionnement d'un système de frein d'un véhicule
DE102007054697A1 (de) Verfahren und System zum Aufrechterhalten eines in einer Bremsanlage eingesperrten Bremsdrucks
WO2014048530A1 (fr) Procédé et dispositif pour le fonctionnement d'un véhicule et véhicule équipé d'un tel dispositif
DE102013006688A1 (de) Verfahren zum automatischen Anfahren eines Kraftfahrzeugs mit einem von Hand zu schaltenden Getriebe
WO2007113132A1 (fr) Adaptation d'un système d'assistance au freinage au cours d'un freinage réalisé par le conducteur
EP2699457A1 (fr) Procédé pour augmenter la sécurité lors du fonctionnement d'un véhicule, dispositif pour exécuter un tel procédé et véhicule présentant un tel dispositif
DE19735687A1 (de) Vorrichtung und Verfahren zum Ansteuern einer Kraftfahrzeugbremsanlage
DE102008026530A1 (de) Verfahren und Vorrichtung zur Erkennung und/oder Durchführung eines Anfahrvorgangs eines Kraftfahrzeugs
DE102014206269B4 (de) Verfahren zum Unterstützen eines Wechsels einer Bewegungsrichtung eines Fahrzeugs, Vorrichtung zum Kontrollieren der Bewegung eines Fahrzeugs sowie Fahrzeug

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12745805

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 12745805

Country of ref document: EP

Kind code of ref document: A1