Method and device for predicting the travelling trajectories of a motor vehicle

• US 20040030498A1
• Filed: 09/10/2003
• Published: 02/12/2004
• Est. Priority Date: 07/11/2001
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Knoop, Micheal, Heinebrodt, Martin, Winner, Hermann, Braeuchle, Goetz, Staempfle, Martin, Oechsle, Fred, Thiele, Joachim, Uhler, Werner, Hermsen, Wolfgang, Weilkes, Michael
• Granted Patent: US 7,729,841 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60T 7/22 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
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A method and a device are proposed for predicting movement trajectories of a vehicle to prevent or reduce the consequences of an imminent collision, in which for predicting the movement trajectories, only those trajectories are considered for which, because of a combination of steering intervention and braking intervention, the forces occurring at the wheels of the vehicle are within the range corresponding to the maximum force transferable from the wheel to the road. Particularly for systems which provide an automatic braking and/or steering intervention for avoiding a collision or reducing the severity of a crash with another object, an automatic braking and/or steering intervention is carried out as a function of the pre-calculated movement trajectories.

Claims

1. A method for predicting movement trajectories (11, 12, 13, 14) of a vehicle (9) for preventing a collision or reducing the crash severity,

wherein for predicting the movement trajectories of the objects, only those trajectories are considered for which, because of a combination of steering intervention and braking intervention, forces (3, 4) occurring at the wheels of the vehicle are within the range of force (7) transferable at a maximum from the wheel to the road.

2. The method as recited in claim 1,

wherein the objects are one'"'"'s own vehicle (9) and/or further objects (10) detected by a surroundings sensor system.

3. The method as recited in claim 2,

wherein the surroundings sensor system is a radar sensor, a lidar sensor, a video sensor or a combination thereof.

4. The method as recited in claim 1,

wherein for ascertaining the instantaneous maximum force (7) transferable from the wheel to the road, additional signals from an anti-lock device and/or an electronic stability program are utilized, by which the slip limit of the wheels may be determined.

5. The method as recited in one of the preceding claims, wherein a collision of one'"'"'s own vehicle (9) with an object (10) detected by the vehicle surroundings sensor system is avoided, or an unavoidable crash is reduced, by using the predicted movement trajectories (14) for the automatic control of the deceleration devices and/or for the automatic control of the vehicle steering devices.

6. A device for predicting movement trajectories of objects,

wherein signals from one or more surroundings sensor systems are supplied to this device, and prediction means are provided for pre-calculating movement trajectories, only those movement trajectories being pre-calculated for which, because of a combination of steering intervention and braking intervention, the forces occurring at the wheels of the vehicle are within the range of the force transferable at a maximum from the wheel to the road.

7. The device as recited in claim 6,

wherein the movement trajectories for one'"'"'s own vehicle and/or for further objects detected by the surroundings sensor system are calculated.

8. The device as recited in claim 6 or 7,

wherein provided in the device are output means, by which the vehicle deceleration devices and/or the vehicle steering devices may be actuated automatically.