Method and apparatus for controlling the approach of a vehicle to an obstacle

• US 5,864,285 A
• Filed: 01/31/1997
• Issued: 01/26/1999
• Est. Priority Date: 03/01/1996
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Ziegler, Udo, Hanschek, Franz, Wieder, Gerhard
• Primary Examiner(s): Lefkowitz, Edward
• Application Number:
  US08/791,582
• Time in Patent Office: 725 Days
• Field of Search: 340/435, 340/436, 340/901, 340/903, 364/426.01, 364/461, 342/70, 342/71, 342/72, 367/909, 180/169, 701/70, 701/301
• US Class Current: 340/435
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• 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 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9317 Driving backwards
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

In a first distance range to the obstacle, the velocity of the vehicle is limited by the control of the power of the drive unit of the vehicle. In a second distance range which is less than said first distance range, the braking force at the wheel brakes is built up.

Claims

1. Method for controlling the approach of a vehicle to an obstacle, the vehicle moving at a velocity and having an engine which produces power and wheel brakes, said method comprising

detecting the distance from the vehicle to an obstacle,

determining the velocity of the vehicle when approaching the obstacle,

maintaining the velocity of said vehicle below a first predetermined velocity by reducing engine power when said distance is in a first predetermined distance range,

determining when the vehicle is in a second predetermined distance range which is closer to the obstacle than the first predetermined distance range, and maintaining the velocity of said vehicle below a second predetermined velocity by building up braking force when the distance is in said second predetermined distance range, until the obstacle is reached.

2. Method as in claim 1, and further comprising

activating an approach switch when said distance is in said second predetermined range, and

building up braking force so that said vehicle velocity is below said second predetermined velocity when said approach switch is activated.

3. Method as in claim 2 further comprising reducing engine power so that said vehicle velocity is below said predetermined velocity when said approach switch is activated.

4. Method as in claim 1, wherein said braking force is controlled by one of a group consisting of an electronic brake control and an ABS control unit.

5. Method as in claim 1 wherein said engine power is reduced by one of a group consisting of an electronic engine control and an ASR control unit.

6. Method as in claim 1, and further comprising detecting when said vehicle is travelling in reverse, said detecting of distance being performed only responsive to detection that said vehicle is traveling in reverse.

7. Apparatus for controlling the approach of a vehicle to an obstacle, the vehicle moving at a velocity and having an engine which produces power and wheel brakes, said apparatus comprising

means for detecting the distance between the vehicle and the obstacle,

means for determining the velocity of the vehicle when approaching the obstacle,

means for maintaining the velocity of said vehicle below a first predetermined velocity when said distance is in a first predetermined distance range, said means for maintaining includes means for reducing engine power,

means for determining when the vehicle is in a second predetermined distance range which is closer to the obstacle than the first predetermined distance range,

means for maintaining the velocity of said vehicle below a second predetermined velocity when the distance is in said second predetermined distance range, until the obstacle is reached said means for maintaining includes means for building up braking force.