WO2017063685A1

WO2017063685A1 - Emergency avoidance manoeuvre system for a motor vehicle having at least one steering system

Info

Publication number: WO2017063685A1
Application number: PCT/EP2015/073752
Authority: WO
Inventors: Christoph Arndt; Sabine Notelaers; Jitendra Shah; Peter Zegelaar
Original assignee: Ford Global Technologies, Llc; Ford-Werke Gmbh
Priority date: 2015-10-14
Filing date: 2015-10-14
Publication date: 2017-04-20

Abstract

An emergency avoidance manoeuvre system for a motor vehicle having at least one steering system comprising – at least one detection unit for detecting vehicle properties and the surroundings of the vehicle and – at least one evaluation unit for combining the conditions detected by the detection unit, in the form of data and information, and for evaluating the detected conditions or the data and information in terms of the respective hazard potential, wherein the evaluation unit determines at least one driving manoeuvre which assists avoidance manoeuvres from the data and information, wherein in the event of or after initiation of an avoidance manoeuvre by the driver of the motor vehicle, a driving manoeuvre which assists avoidance manoeuvres initiated by the driver can be overridden at any time by the driver, wherein the state and/or the driving behaviour of the driver are/is included in the determination of the assisting driving manoeuvre, for which purpose the driver is monitored by means of a monitoring unit, and the data and information are input into the at least one evaluation unit, and at least one detection unit detects settings of further systems in the motor vehicle and these are taken into account in the valuation unit, and an adjustment unit of the evaluation unit subsequently makes an adjustment with these further systems.

Description

Emergency evasive maneuver system for at least one steering system

having motor vehicle description

The invention relates to an emergency evasive maneuvering system for a motor vehicle having at least one steering system, comprising at least one

Detection unit for detecting vehicle parameters and the

Vehicle environment, as well as at least one evaluation unit for

Merging the conditions detected by the detection unit in the form of data and information and for evaluating the detected conditions or the data and information regarding the respective hazard potential, wherein the evaluation at least one evasive maneuver supporting driving maneuver determined from the data and information, wherein at or after initiation an evasive maneuver by the driver of the motor vehicle, a driving maneuver that supports the evasive maneuver initiated by the driver is predefined, which can be overridden by the driver at any time. It is known to equip modern motor vehicles with so-called assistants, which make it easier for the driver to drive the vehicle, in particular in critical situations, and in some cases even control it at all.

Among other things, a so-called emergency steer assist functionality is known, which supports the driver in an emergency evasive maneuver, so that despite the sudden steering angle, the vehicle remains manageable, even at high speeds.

Thus, EP 1 735 187 A1 describes an assistant who supports the driver during or after the emergency evasive maneuver by a default, but which can be overridden.

DE 10 2012 203 182 A1 describes a method in which a driving corridor is determined to actively steer the vehicle in this corridor and limit the evasive maneuver. Sensor data for the environment, vehicle condition and driver specification are included in the calculation. US 2012/0212353 A1 discloses a driver assistance method in which the condition of the driver with respect to drowsiness is determined and this then flows into the assistants in order to modify their control of the driving behavior. The object of the invention is in contrast, a method for adaptive

To provide an emergency evasive maneuver assistant customization adapted to the particular driver and vehicle condition.

This object is achieved by the recited in claim 1

Emergency evasive maneuver system solved.

According to the invention, it has been recognized that if the state and / or the driving behavior of the driver is included in the determination of the assisting driving maneuver, for which purpose the latter is monitored by means of a monitoring unit and the data and information are included in the at least one evaluation unit, and the at least one registration unit has settings recorded further systems in the vehicle and this in the evaluation unit

be taken into account as well as a voting unit of the evaluation unit then carries out a vote with these other system, it is possible to adjust the emergency evasive maneuver system constantly adaptive, so that it is always set optimally. This allows it in an emergency

Dodge maneuver system before and during evasion optimally to the

Adjust influences and so the driver to support. In particular, this is possible because the other systems (assistants) receive a feedback or influence by the vote and thus comes to a precedence of the emergency escape maneuver assistant and a support by the other systems. The systems are tuned in a preferred embodiment in such a way to support the emergency evasion maneuver that both the Support for the maneuver as well as other optimization criteria, such as the balance between driving dynamics and comfort, are taken into account. In addition, it is also possible to reactivate driver-deactivated support systems for the time of the emergency evasive maneuver, if necessary, to avoid this

To support emergency avoidance maneuvers optimally.

Preferably, the monitoring unit comprises at least one sensor for monitoring the driver's condition for at least one condition selected from the group consisting of fatigue, panic, medical problems,

The influence of drugs.

The monitored driving behavior according to the invention also includes the driving style, such as comfort, panic or sporty driving style, as well as steering behavior. It makes sense for the monitoring unit to monitor the condition and / or the driving behavior of the driver in the longer term, so that tendencies can be recognized and then the thresholds for the emergency evasive maneuver system can be optimally adjusted. The other systems comprise at least one system selected from the group consisting of collision warning system, blind spot warning system,

Speed control system, brake assist system,

Lane change assistance system, lane warning system, electronic

Stability system.

The vehicle parameters include at least one vehicle parameter

selected from the group comprising suspension settings,

Damper settings, steering settings

Trailer usage, load, tire pressure, speed, steering angle, acceleration, lateral acceleration, tilt angle, yaw rate. The

Vehicle parameters are set in order to optimize the vehicle behavior so that the vehicle reacts as directly as possible to control commands. In a preferred embodiment, the at least one evaluation unit is set up in order to adaptively adapt the evasive maneuver algorithms on the basis of the data and information that has been flown.

The invention also relates to a corresponding method. According to the invention it has been recognized that it is for the

Emergency evasion maneuver determination is advantageous if all possible influences and parameters for influencing the emergency evasion maneuver are taken into account. So far, only driver-related parameters (such as steering angle, speed, acceleration, pedal position, etc.) have been regularly reviewed as well

Environmental influences (eg via camera or radar) in the calculation of the

Take evasive maneuvers.

There are, however, what has been recognized according to the invention, a number of other parameters and influences the input into the constant adaptation of

Standard algorithms for the calculation of the emergency evasion maneuver should find input. The input of these further parameters to adjust the

Standard algorithms allow even better customization of the

Emergency evasion function before or during evasion itself and their more robust design.

So z. B. has been recognized that the driver's condition is different

Activate areas of the algorithms for the calculation of the emergency evasion maneuver or deactivate the function as a whole.

Normal driving or guiding the vehicle will only provide the emergency evasive function in the monitoring mode. However, if fatigue of the driver is detected, then easy control will not have enough effect on the driver

Have algorithms to trigger the emergency evasive maneuver function. Thus, a Lane Keeping Aid will remain active and prevent the vehicle from an emergency evasion maneuver. In the second phase, the driver may realize that he is deviating from the path and suddenly remembering that he has to steer differently and do so by means of a panic reaction regarding the steering (large steering angles). However, if no hazard potential is detected (eg, if the driver has the influence of the lane warning system or

Lane change assistant has not noticed) the lane warning system will remain active and the driver has enough space to correct himself without emergency evasion system. However, if danger is discovered, the lane change or

Track Alert Wizard will be disabled and the emergency evasion system will be activated. So the fatigue detection could be used to control the

To adapt emergency escape assistants and their function and to calculate the path of evasive maneuver on the basis of the amount of tiredness that will lengthen with fatigue.

According to the invention has also been recognized that it would be useful to vital signals of the driver such. B. its cardiovascular functions, to monitor in the

In case of doubt, deactivate the emergency evasive function if the driver suffers a heart attack and instead prefer to perform a soft emergency braking function by coordination with the other assistants or systems. It has also been recognized according to the invention that optionally the

Vehicle settings or configurations can change, for. B. by adjustment by the driver. Even such settings of the vehicle can influence the interaction between the different functions or assistants and systems and should therefore be included in the

Notausweichfunktion.

Is z. B. a trailer attached to the vehicle, so it is necessary to

To adapt it to emergency evasion function. Thus, the control of the vehicle must consider the trailer attached and be changed. So it would certainly be useful in such a case, if the emergency evasion system cooperates with the electronic stability system and possibly a trailer anti-sway system to initiate an emergency avoidance maneuver in which the trailer does not waver or overturn. On the other hand, for. B. the vehicle may be provided with a spare wheel, which is reduced in size. As a result, the driving characteristics sometimes change considerably and it would be for the emergency evasion function or the calculation of the

Emergency evasive maneuvers and the safe driving characteristics to be achieved in order to incorporate such an emergency wheel.

Furthermore, the loading of the vehicle and the load distribution in the vehicle is important in order to keep the vehicle stable in the extreme load changes due to the emergency evasive maneuver. Therefore, the load conditions and the load distribution conditions should also be taken into account.

This obviously also applies to the tire pressure settings

Suspension settings, etc., which may have been adjusted by the driver on the basis of his sporty, comfortable or economical driving style.

In summary, it has thus been recognized according to the invention that, in addition to the state and driving style of the driver, it is also appropriate to include all possible states, settings and parameters from the so-called assistants (vehicle systems) as well as the environment for the most comprehensive possible execution of the emergency avoidance maneuver To obtain an image of the influences on the evasion maneuver itself and then to include all of them in the calculation of the evasion maneuver to assist the driver, with a prioritization or coordination between the safety assistants or systems of the vehicle is made so that the function that the Provide the highest possible safety of the driver and the vehicle which receives the highest priority, which in case of doubt is the emergency evasion maneuver system itself.

The invention is explained below with reference to a flowchart which illustrates the interaction of the different vehicle systems and assistants as well as the flow of data and information. At the center of course is the emergency evasion maneuver system 1, also called ESA for EmergencySteerAssist. If necessary, the emergency evasive maneuvering system 1 outputs control data 5 to actuators 6 for the steering, brakes and / or dampers as well as information for the driver via the human-machine interface (HMI) 15.

In addition, data and information from different systems and flows

Sensors of the vehicle in a detection unit 3 of the system 1 a. These are implemented in an evaluation unit 2 on the basis of algorithms in order to determine an evasive maneuver or control data therefor.

This control data then flows into an adaptation unit 4 to a

Tuning and matching with other systems and a corresponding adaptation of the control data due to the states or data of these systems before passing on to the actuators 6 perform.

Data from tire pressure sensors 14 as well as driver-related data 7 (steering angle, speed, yaw rate and lateral acceleration) as well as fatigue 7A, panic steering 7B, normal steering 7C from suitable sensor systems essentially flow into the registration unit 3.

In addition, monitoring data of the body-important functions 16 of the driver are input to a decision unit in order to activate or

Deactivation of the ESA 1, e.g. Deactivation in case of a heart attack.

Furthermore, data and information from other assistance systems flow in, with which bidirectional coordination and prioritization may also take place

(indicated by double arrows).

These are the blind spot warning system 8, speed control system 10, brake assist system 9, collision warning system 1 1, Lane change support system 12, lane departure warning system 13 and electronic stability system 18.

In addition, data and information about vehicle parameters 19 are input to the ESA 1, which can be specified or set by the driver.

These include the steering wheel settings 19A (such as steering column height), steering resistance 19B (large, small), suspension settings 19C (hard, soft, high legged etc.), emergency use 19D, trailer usage 19E, and load and load distribution 19F. These data also find parallel input into the stability system.

Claims

claims

1 . Emergency evasive maneuver system for at least one steering system

comprising motor vehicle, comprising

- At least one detection unit for detecting vehicle parameters and the vehicle environment, and

at least one evaluation unit for merging the conditions detected by the detection unit in the form of data and

Information and evaluation of the detected conditions or the data and information regarding the respective hazard potential, wherein the evaluation at least one evasive maneuver supporting driving maneuver from the data and information determined, wherein during or after initiation of an evasive maneuver by the driver of the motor vehicle by the driver initiated evasion maneuver supportive

Driving maneuver is specified, which can be overridden at any time by the driver,

characterized,

that in determining the supporting maneuver the condition and / or the driving behavior of the driver is included, for which purpose it is monitored by means of a monitoring unit and the data and information flow into the at least one evaluation unit, and that the at least one detection unit detects settings of other systems in the motor vehicle and these are taken into account in the evaluation unit as well as a

Voting unit of the evaluation unit then performs a vote with these other systems.

2. An emergency evasive maneuvering system according to claim 1, characterized in that the monitoring unit comprises at least one sensor for monitoring the driver's condition for at least one state selected from the group comprising fatigue, panic, medical problems, drug influence.

3. emergency escape maneuver system according to claim 1 or 2, characterized

characterized in that the driving behavior includes the driving style, such as comfort, panic or sporty driving, and steering behavior.

4. emergency evasive maneuver system according to one of the preceding claims, characterized in that the monitoring unit monitors the condition and / or the driving behavior of the driver in the longer term.

5. emergency evasive maneuver system according to one of the preceding claims, characterized in that the further systems at least one system selected from the group comprising collision warning system,

Blind spot warning system, cruise control system,

Brake assist system, lane change assist system,

Track alarm system, electronic stability system include.

6. emergency evasion maneuver system according to one of the preceding claims, characterized in that the vehicle parameters comprising at least one vehicle parameter selected from the group

Suspension settings, damper settings, steering settings, emergency wheel usage, trailer usage, load, tire pressure,

Speed, steering angle, acceleration, lateral acceleration, inclination angle, yaw rate.

7. emergency evasion maneuver system according to one of the preceding claims, characterized in that the at least one evaluation unit is adapted to adapt adaptively the evasive maneuver algorithms on the basis of the flown data and information.