Method and device for ascertaining the imminence of an unavoidable collision

• US 20040093160A1
• Filed: 08/04/2003
• Published: 05/13/2004
• Est. Priority Date: 08/02/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Heinebrodt, Martin, Knoop, Michael, Staempfle, Martin, Oechsle, Fred, Wilhelm, Ulf, Thiele, Joachim
• Granted Patent: US 6,940,448 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• 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 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A method and a device for ascertaining the imminence of an unavoidable collision of a vehicle with an object, all locations within a determinable prediction time interval being predetermined as a function of the maximum possible longitudinal acceleration and lateral acceleration of the vehicle and of the at least one object. The imminence of an unavoidable collision between the vehicle and the object may be recognized, also taking into account the extension of the vehicle and of the at least one object.

Claims

1. A method for ascertaining an imminence of an unavoidable collision of a vehicle with at least one object, comprising:

predetermining, as a function of a maximum possible longitudinal acceleration and a maximum possible lateral acceleration of the vehicle and of the at least one object, all locations within a determinable prediction time interval that are attainable by the maximum possible longitudinal acceleration and the maximum lateral acceleration within the determinable prediction time interval; and

recognizing the imminence of the unavoidable collision between the vehicle and the at least one object by taking into account extensions of the vehicle and of the at least one object.

2. The method as recited in claim 1, further comprising:

upon recognition of the unavoidable collision, initiating a measure to at least one of reduce a severity of the collision, decrease a risk of injury to a vehicle occupant, influence the vehicle so that the risk of injury to the vehicle occupant is reduced, and warn a driver.

3. The method as recited in claim 1, further comprising:

in order to predetermine future locations of the vehicle and of the at least one object, evaluating at least one of an instantaneous position, an instantaneous longitudinal velocity, an instantaneous lateral velocity, an orientation direction of the at least one object, and a spatial extension of the at least one object.

4. The method as recited in claim 1, further comprising:

ascertaining, by using at least one of a radar, a lidar, and a video sensor, an instantaneous longitudinal velocity, an instantaneous lateral velocity, an orientation direction of the at least one object, and a spatial extension of the at least one object.

5. The method as recited in claim 1, wherein:

the maximum possible longitudinal acceleration and the maximum possible lateral acceleration of the at least one object are assumed as a function of an allocation of the at least one object to an object class.

6. The method as recited in claim 5, wherein:

the at least one object is allocated to the object class as a function of a detection by different sensor systems.

7. The method as recited in claim 5, wherein:

the at least one object is allocated to the object class as a function of an object extension measured by one of a video sensor and a lidar sensor.

8. The method as recited in claim 5, wherein:

the at least one object is allocated to the object class as a function of a gray-scale-value pattern found by a video sensor.

9. The method as recited in claim 1, wherein:

a determinable prediction time interval is variable, and

the determinable prediction time interval is changed as a function of a traffic situation.

10. The method as recited in claim 1, further comprising:

determining the imminence of the unavoidable collision is determined when, within the determinable prediction time interval, a condition occurs where a trajectory tube of the vehicle intersects with a trajectory tube of the at least one object, and taking into account half a lateral extension of the vehicle and half a lateral extension of the at least one object, respectively, no trajectory exists any longer which describes a collision-free movement.

11. A device for ascertaining an imminence of an unavoidable collision of a vehicle with at least one object, comprising:

an input element by which the device is supplied with an input signal from at least one of a radar, a lidar, and a video sensor;

an ascertainment unit for ascertaining the imminence of the unavoidable collision with the least one object; and

an output element for triggering another device by which, upon recognition of the unavoidable collision, a measure is initiated for at least one of reducing a severity of the unavoidable collision and reducing a risk of injury to a vehicle occupant.

12. The device as recited in claim 11, wherein:

the other device includes at least one of a deceleration device, a steering device, and an occupant restraint system.