WO2017036478A1 - Notbremsassistent für ein fahrzeug - Google Patents

Notbremsassistent für ein fahrzeug Download PDF

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Publication number
WO2017036478A1
WO2017036478A1 PCT/DE2016/200401 DE2016200401W WO2017036478A1 WO 2017036478 A1 WO2017036478 A1 WO 2017036478A1 DE 2016200401 W DE2016200401 W DE 2016200401W WO 2017036478 A1 WO2017036478 A1 WO 2017036478A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
emergency braking
area
emergency
detected
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DE2016/200401
Other languages
German (de)
English (en)
French (fr)
Inventor
Muhammad ALREFAI
Mihai BANEU
Mario Götz
Helmut Steurer
Armin Vogl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Priority to JP2018510517A priority Critical patent/JP6901466B2/ja
Priority to EP16784783.9A priority patent/EP3344502A1/de
Priority to DE112016002805.9T priority patent/DE112016002805B4/de
Publication of WO2017036478A1 publication Critical patent/WO2017036478A1/de
Priority to US15/908,010 priority patent/US20180186350A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B60W10/18—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
    • 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
    • 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
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • the invention relates to an improved emergency brake assistant for a vehicle, which takes into account the rear area in the definition of emergency braking parameters. Even during the emergency braking process, the rear area is monitored and the emergency brake parameters adjusted if necessary.
  • Environmental monitoring systems must therefore be reliable and the emergency braking play out in an optimal framework in order to prevent a collision with an object lying in front of the vehicle on the one hand and with a following vehicle on the other hand.
  • the object of the present invention is to improve an emergency brake assistant and a method for operating an emergency brake assistant.
  • the method for automatic emergency braking of a vehicle comprises the following steps, an object detection in the area in front of and behind the vehicle; and setting at least one
  • Emergency braking parameters as a function of at least one detected object in the Area in front of the vehicle; wherein at least one emergency braking parameter is modified if there is no object in the area behind the vehicle,
  • an emergency braking with the optimum parameters can thus take place, since no consideration has to be given to the traffic at the rear.
  • the emergency brake parameters may preferably be at least one permissible one
  • Speed range within which the emergency brake assist is active or a delay request; or a speed reduction; or time of emergency braking.
  • Delay request or deceleration can be set to an optimum value to avoid collision with the object before
  • an optimal value could be the maximum possible
  • Optimum values for the speed range are, among others, the values for standardized speed limits in and out of town, ie the ranges 30 - 50, 70 - 100 and 130 km / h.
  • emergency braking can take place in any speed range, since there is no danger from a rear-end collision due to the lack of objects in the rear area.
  • the emergency braking parameter can be modified as follows: the permissible speed range is increased or the
  • Deceleration request is increased or the deceleration is increased or the timing of the emergency deceleration is advanced.
  • the time of emergency braking can be advanced to have more time to decelerate the vehicle.
  • the increase of at least one of the emergency braking parameters can be maintained until an object, in particular a driving
  • such a recognized object in the rear area before or during emergency braking can be considered and the initiation or further implementation of the emergency braking can be changing
  • Traffic situations are adjusted.
  • the increase in the emergency braking parameters can be withdrawn and the standard parameters are used.
  • the object detection in the area behind the vehicle can determine a relative speed or a distance of the detected objects.
  • the distance and the relative speed are advantageousously, the distance and the relative speed
  • Notbremsparameter done dynamically with the relative speed or the distance of the detected object.
  • the adaptation of the emergency brake parameters during the emergency braking can be carried out continuously and so the emergency brake parameters are adapted to the emergency braking behavior of the own vehicle or to the behavior of the subsequent object.
  • an evasive maneuver can be performed when a collision with the detected object in the area in front of the vehicle and the detected object in the area behind the vehicle, in particular a moving following vehicle, by emergency braking is no longer preventable.
  • an evasive action can be initiated.
  • an emergency brake assistant for a vehicle comprises
  • Object recognition unit for the area in front of and behind the vehicle; and a control unit for carrying out the preferred method, wherein the control unit comprises an electronic memory on which a method according to one of the preceding claims is stored.
  • the middle vehicle 3 is equipped with an object detection unit 5, 7 for the area before 13 and behind 15 the vehicle 3.
  • the respective object detection unit 5 for the area before 13 and behind 15 the vehicle 3.
  • Object detection unit detects objects before 13 and behind 15 the vehicle 3, if objects 9, 1 1, or vehicles are in this area.
  • FIG. 2 shows a flowchart for the operation 21 of an emergency brake assistant.
  • the object detection unit 23 monitors the rear area of the vehicle and searches for objects in this area 25. If objects 31 are detected, the set default parameters 27 are used as emergency braking parameters for emergency braking. If, on the other hand, no objects are detected in the rear region 25, an emergency braking which may be initiated is carried out with optimum optimum parameters 29, which are higher than the standard parameters, as emergency brake parameters.
  • the method shown in Fig. 2 for the operation 21 of the emergency brake assist is also performed during an already held emergency braking. If, after the beginning of the emergency braking operation, the object detection unit 23 recognizes an object in the rear area 25 31, the emergency braking is continued with the standard parameters 27. The increased optimum parameters 29 are therefore no longer used.
  • intermediate parameters can also be used which lie between the optimum parameters 29 and the standard parameters 27.
  • FIG. 3 shows a diagram for the course of an emergency braking parameter 41.
  • the object detection system detects an object in the rear of the vehicle and reduces the allowed
  • Vehicles monitor the respective traffic space and determine the
  • the control unit 65 then adjusts the emergency braking parameters to the detected objects and controls the braking system 67 of the vehicle accordingly.

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)
PCT/DE2016/200401 2015-09-01 2016-08-26 Notbremsassistent für ein fahrzeug Ceased WO2017036478A1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2018510517A JP6901466B2 (ja) 2015-09-01 2016-08-26 車両用の緊急ブレーキ・アシスタント
EP16784783.9A EP3344502A1 (de) 2015-09-01 2016-08-26 Notbremsassistent für ein fahrzeug
DE112016002805.9T DE112016002805B4 (de) 2015-09-01 2016-08-26 Notbremsassistent für ein Fahrzeug
US15/908,010 US20180186350A1 (en) 2015-09-01 2018-02-28 Emergency brake assist system for a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015216679.1 2015-09-01
DE102015216679.1A DE102015216679A1 (de) 2015-09-01 2015-09-01 Notbremsassistent für ein Fahrzeug

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/908,010 Continuation US20180186350A1 (en) 2015-09-01 2018-02-28 Emergency brake assist system for a vehicle

Publications (1)

Publication Number Publication Date
WO2017036478A1 true WO2017036478A1 (de) 2017-03-09

Family

ID=57184282

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2016/200401 Ceased WO2017036478A1 (de) 2015-09-01 2016-08-26 Notbremsassistent für ein fahrzeug

Country Status (5)

Country Link
US (1) US20180186350A1 (https=)
EP (1) EP3344502A1 (https=)
JP (1) JP6901466B2 (https=)
DE (2) DE102015216679A1 (https=)
WO (1) WO2017036478A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022202743A1 (de) 2022-03-21 2023-09-21 Continental Autonomous Mobility Germany GmbH Assistenzsystem für ein Fahrzeug sowie Verfahren zum Betrieb eines Assistenzsystems für ein Fahrzeug sowie Fahrzeug

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017219892A1 (de) * 2017-11-09 2019-05-09 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bewegungsregelung für ein einspuriges Kraftfahrzeug
CN109969116B (zh) * 2017-12-28 2021-01-29 大众汽车（中国）投资有限公司 一种用于车辆的防撞方法和系统
JP7656437B2 (ja) 2021-02-10 2025-04-03 株式会社Subaru 運転支援装置
FR3128175B1 (fr) * 2021-10-14 2023-09-01 Renault Sas Procede de commande de freinage
WO2023208442A1 (en) * 2022-04-29 2023-11-02 Zf Cv Systems Global Gmbh Method for operating an advanced emergency braking system
DE102022210995A1 (de) * 2022-10-18 2024-04-18 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Steuerung eines Notbremsassistenten

Citations (4)

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Publication number Priority date Publication date Assignee Title
DE102004058663A1 (de) * 2004-12-06 2006-06-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Steuerung einer automatischen Notbremsung
FR2915160A1 (fr) * 2007-04-19 2008-10-24 Renault Sas Dispositif d'aide a la conduite d'un vehicule motorise.
DE102009017431A1 (de) * 2008-04-22 2009-10-29 Fuji Jukogyo K.K. Fahrunterstützungssystem für Fahrzeuge
DE102010029223A1 (de) 2010-05-21 2011-11-24 Robert Bosch Gmbh Bremsassistent für Kraftfahrzeuge mit verbesserter Bremswirkung

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DE19806119A1 (de) * 1998-02-14 1999-08-19 Bayerische Motoren Werke Ag Bremsregelungsanlage in Kraftfahrzeugen
DE102006059915A1 (de) * 2006-12-19 2008-07-03 Adc Automotive Distance Control Systems Gmbh Verfahren zum Bestimmen einer an eine Verkehrssituation angepassten Fahrzeugführung und Fahrerassistenzsystem
JP2008273252A (ja) * 2007-04-25 2008-11-13 Toyota Motor Corp 車両用駆動力制御装置
DE102007022589A1 (de) * 2007-05-14 2008-11-27 Robert Bosch Gmbh Vorausschauende Sicherheitsvorrichtung für Fahrzeuge
JP4321633B2 (ja) * 2007-07-12 2009-08-26 株式会社デンソー 衝突緩和装置
JP2010052546A (ja) * 2008-08-27 2010-03-11 Mazda Motor Corp 車両の走行制御装置
JP5397231B2 (ja) * 2010-01-12 2014-01-22 トヨタ自動車株式会社 リスク回避支援装置
JP4964321B2 (ja) * 2010-04-16 2012-06-27 三菱電機株式会社 乗員保護装置
EP2595135A1 (en) 2011-11-16 2013-05-22 Volvo Car Corporation Method and arrangement for collision avoidance
DE102014013544A1 (de) * 2014-09-12 2015-04-02 Daimler Ag Betrieb eines Abstandsregelsystems für ein Fahrzeug

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
DE102004058663A1 (de) * 2004-12-06 2006-06-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Steuerung einer automatischen Notbremsung
FR2915160A1 (fr) * 2007-04-19 2008-10-24 Renault Sas Dispositif d'aide a la conduite d'un vehicule motorise.
DE102009017431A1 (de) * 2008-04-22 2009-10-29 Fuji Jukogyo K.K. Fahrunterstützungssystem für Fahrzeuge
DE102010029223A1 (de) 2010-05-21 2011-11-24 Robert Bosch Gmbh Bremsassistent für Kraftfahrzeuge mit verbesserter Bremswirkung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022202743A1 (de) 2022-03-21 2023-09-21 Continental Autonomous Mobility Germany GmbH Assistenzsystem für ein Fahrzeug sowie Verfahren zum Betrieb eines Assistenzsystems für ein Fahrzeug sowie Fahrzeug

Also Published As

Publication number Publication date
EP3344502A1 (de) 2018-07-11
DE112016002805B4 (de) 2025-08-07
JP6901466B2 (ja) 2021-07-14
JP2018526267A (ja) 2018-09-13
DE102015216679A1 (de) 2017-03-02
DE112016002805A5 (de) 2018-03-29
US20180186350A1 (en) 2018-07-05

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