Method and device for automatic controlling of the deceleration device of a vehicle

• US 20040039513A1
• Filed: 09/18/2003
• Published: 02/26/2004
• Est. Priority Date: 07/11/2001
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Heinebrodt, Martin, Winner, Hermann, Knoop, Michael, Braeuchle, Goetz, Staempfle, Martin, Oechsle, Fred, Wilhelm, Ulf, Thiele, Joachim, Uhler, Werner, Hermsen, Wolfgang, Weilkes, Michael
• Granted Patent: US 7,015,805 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/12 Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
• 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

Abstract

A method and a device are described for controlling deceleration devices of a vehicle during a braking operation, in particular a vehicle which is equipped with a sensor for adaptive cruise control. During the braking operation, risk dimensions are determined on the basis of driving dynamics models, which are individualized by signals of the surrounding-field sensor system. A first risk dimension is precalculated for the case of continued deceleration and a second risk dimension is precalculated for the case of unbraked further movement of the vehicle. Through the comparison of the two risk dimensions, it is decided whether the automatic vehicle deceleration is to be maintained or whether the braking is to be canceled before the vehicle is brought to a standstill.

Claims

1. A method for automatically controlling the deceleration devices (30) of a vehicle (14) during automated braking, wherein, before and during automated braking of the vehicle, the surrounding-field situation and the particular situation are detected using detection devices (23, 25);

a first risk dimension for continued deceleration of the vehicle and a second risk dimension for unbraked further movement of the vehicle are determined on the basis of the situations detected; and

it is decided from a comparison of the first risk dimension with the second risk dimension whether the deceleration devices (30) remain activated or are deactivated.

2. The method as recited in claim 1, wherein the automated braking is an automatically controlled deceleration to avoid a collision or to reduce the collision speed.

3. The method as recited in one of claims 1 or 2, wherein the deceleration means (30) are deactivated during a braking operation if the comparison of the risk dimensions shows that the first risk dimension is greater than the second risk dimension.

4. The method as recited in one of the preceding claims, wherein the first and the second risk dimensions are determined using precalculated movement trajectories of the detected obstacles.

5. The method as recited in one of the preceding claims, wherein, to precalculate the movement trajectories, the positions and the movements of the particular vehicle (14) and the stationary or moving obstacles (15, 16) in the area surrounding the vehicle are taken into consideration using driving dynamics models.

6. The method as recited in one of the preceding claims, wherein the characteristic driving behavior of the driver is taken into consideration in establishing the particular situation.

7. The method as recited in one of the preceding claims, wherein signals from at least one of the sensors including yaw rate sensor, radar sensor, lidar sensor, video sensor, wheel speed sensor, steering angle sensor, accelerator pedal sensor, brake pedal sensor, and mass inertia sensor are processed to detect the surrounding-field situation and the particular situation.

8. The method as recited in one of the preceding claims, wherein the controller of the deceleration means has at least three states, in particular, the controller of the deceleration means can assume the following states

no deceleration of the vehicle and no deceleration preparation;

no deceleration of the vehicle, but preparation of the deceleration means by prefilling the braking system and applying the brake linings to the brake disks, and

maximum possible deceleration of the vehicle.

9. The method as recited in one of the preceding claims, wherein the controller of the deceleration means has at least four states;

in particular, the controller of the deceleration means can assume the following states;

no deceleration of the vehicle and no deceleration preparation;

no deceleration of the vehicle, but preparation of the deceleration means by prefilling the braking system and applying the brake linings to the brake disks,

deceleration of the vehicle which lies below the maximum possible deceleration of the vehicle, and

maximum possible deceleration of the vehicle.

10. A device for automatically controlling the deceleration devices of a vehicle, wherein detection means (23, 25) are provided for detecting the surrounding-field situation, the vehicle situation, and the driver activities;

these are supplied to an analysis device (27), in which probable movement trajectories are established using driving dynamics models;

a first and a second risk dimension are established from these movement trajectories;

, and means (30) are provided for decelerating the vehicle, which are activated or deactivated as a function of the result of the comparison of the first and the second risk dimensions.

11. The device as recited in claim 10, wherein the deceleration is a braking operation to avoid a collision or to reduce the collision speed.