Device for determining a distance of a motor vehicle from an object

• US 6,446,998 B1
• Filed: 12/20/1999
• Issued: 09/10/2002
• Est. Priority Date: 01/20/1999
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Fiess, Reinhold, Eschler, Johannes, Koenig, Winfried
• Primary Examiner(s): BOEHLER, ANNE MARIE M
• Application Number:
  US09/468,006
• Time in Patent Office: 995 Days
• Field of Search: 280/432, 280/446.1, 280/449, 280/455.1, 280/457, 180/271, 180/170, 180/169, 180/204, 340/904, 340/932.2, 340/958, 340/961, 340/431, 340/435, 340/436, 340/687, 340/686.6, 701/300, 701/301
• US Class Current: 280/432
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60K 28/10 responsive to conditions relating to the vehicle
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: G01S 13/874 Combination of several systems for attitude determination in general G01C, control of attitude G05D1/49
• CPC Class Codes: G01S 13/88 Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/872 Combination of several systems for attitude determination using inertial means G01C9/00, control of attitude G05D1/49
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• 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: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 : Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93272 : in the back of the vehicles
• CPC Class Codes: G01S 2013/93275 : in the bumper area

Abstract

A device for determining a distance between the back of a motor vehicle and an object located behind the motor vehicle, including a sensor arrangement for detecting a distance between at least one location on the back of the motor vehicle and a location at the side of the object facing the vehicle, and an evaluation unit for determining distance values on the basis of the detected sensor signals, the evaluation unit including an arrangement for ascertaining a periodic nature of the determined distance values.

Claims

1. A device for determining a distance between a rear part of a motor vehicle and an object located behind the motor vehicle, comprising:

a sensor arrangement detecting a distance between at least one location at the rear part of the motor vehicle and a location at a side of the object facing the motor vehicle, the sensor arrangement providing sensor signals as a function of the detected distance; and

an evaluation unit determining distance values as a function of the sensor signals, the evaluation unit including an arrangement ascertaining a periodic nature of the determined distance values.

2. The device according to claim 1, wherein the sensor arrangement includes at least two sensors arranged at the back of the vehicle and on opposite sides of a longitudinal axis of the vehicle.

3. The device according to claim 1, wherein the sensor arrangement includes ultrasonic sensors.

4. The device according to claim 1, wherein the sensor arrangement includes capacitive sensors.

5. The device according to claim 1, wherein the sensor arrangement includes electromagnetic radiation sensors.

6. The device according to claim 1, wherein the electromagnetic radiation sensors include at least one of microwave sensors and optical sensors.

7. The device according to claim 1, wherein the sensor arrangement is mounted in a rear bumper of the motor vehicle.

22. The device according to claim 1, further comprising an arrangement for routing at least one of:

a) the sensor signals, and b) the determined distance values to a further device for ascertaining a periodic nature of the determined distance values.

8. A device for stabilizing a motor vehicle-trailer combination, comprising:

a sensor arrangement detecting a distance between a rear part of the motor vehicle and a side of the trailer facing the motor vehicle, the sensor arrangement providing sensor signals as a function of the detected distance;

an evaluation unit determining distance values as a function of the sensor signals, the evaluation unit including an arrangement ascertaining a periodic nature of the determined distance values; and

at least one of;

i) an arrangement for indicating that a critical pendulum motion of the trailer is present as a function of the determined distance values; and

ii) an arrangement for reducing a velocity of the motor vehicle below a critical velocity as a function of the determined distance values.

23. The device according to claim 8, further comprising an arrangement for routing at least one of:

a) the sensor signals, and b) the determined distance values to a further device for ascertaining a periodic nature of the determined distance values.

9. A device for stabilizing a vehicle-trailer combination, the vehicle-trailer combination including a towing vehicle and a trailer, the device comprising:

at least one measurement device mounted on a rear part of the towing vehicle; and

a determining arrangement coupled to the at least one measurement device determining at least one distance quantity which describes a distance between a location of the towing vehicle and an object located behind the towing vehicle, the at least one distance quantity being evaluated to support a parking operation when the trailer is not coupled to the towing device, and the at least one distance quantity being evaluated to determine trailer instability when the trailer is coupled to the towing device the determination of trailer instability including determining a pendulum motion of the trailer relative to a longitudinal axis of the towing vehicle, at least one of braking interventions, engine interventions and an activation of a signaling device are carried out in response to a determination of trailer instability.

10. The device according to claim 9, wherein the at least one measurement device includes two measuring devices, and the distance quantity is determined with the aid of each of the two measuring devices.

11. The device according to claim 10, wherein the determining arrangement determines an angular quantity as a function of two distance quantities, the angular quantity describing an angle formed by the longitudinal axis of the towing vehicle and by a longitudinal axis of the trailer, trailer instability being determined as a function of the angular quantity.

12. The device according to claim 11, wherein to determine the trailer instability, the determining arrangement evaluates at least one of:

i) a first frequency quantity describing a frequency of the at least one distance quantity,

ii) a first amplitude quantity describing an amplitude of the at least one distance quantity,

iii) a second frequency quantity describing a frequency of an angular quantity, and

iv) a second amplitude quantity describing an amplitude of the angular quantity.

13. The device according to claim 9, wherein a velocity quantity describing a velocity of the towing vehicle is evaluated to determine the trailer instability.

14. The device according to claim 12, wherein the determination of trailer instability is made when a velocity quantity is greater than a first threshold value, and at least one of the following occurs:

i) the first amplitude quantity is greater than a second threshold value,

ii) the first frequency quantity is greater than a third threshold value,

iii) the second amplitude quantity is greater than a fourth threshold value, and

iv) the second frequency quantity is greater than a fifth threshold value.

15. The device according to claim 12, wherein the determining arrangement determines whether the trailer instability is subsiding, wherein when trailer instability is subsiding, at least one of:

i) no braking intervention is performed,

ii) no engine intervention is performed, and

iii) the at least one of braking interventions and engine interventions is terminated.

16. The device according to claim 15, wherein the determination arrangement determines that the trailer instability is subsiding when a velocity quantity is greater than a first threshold value, and at least one of the following exists:

i) the first amplitude quantity decreases,

ii) the first frequency quantity decreases,

iii) the second amplitude quantity decreases, and

iv) the second quantity decreases.

17. The device according to claim 9, wherein the determining arrangement determines whether the trailer is coupled, the determining arrangement determining that the trailer is coupled when at least one of the following occurs:

i) a brake light cable of the trailer is connected to the towing vehicle, and

ii) at least one distance quantity exhibits a predetermined quality in predetermined driving situations.

18. The device according to claim 9, wherein the at least one distance quantity is evaluated to determine the trailer instability when a quantity describing a vehicle velocity is greater than a corresponding threshold value.

19. A method for stabilizing a vehicle-trailer combination, the vehicle trailer combination including a towing vehicle and a trailer, comprising:

determining at least one distance quantity which describes a distance between a location of the towing vehicle and an object located behind the towing vehicle;

if the trailer is not coupled to the towing vehicle, evaluating the at least one distance quantity to support a parking operation;

if the trailer is coupled to the towing vehicle, evaluating the at least one distance quantity to determine instability of the trailer;

if instability of the trailer exists, performing at least one of;

i) braking interventions;

ii) engine interventions; and

iii) actuation of a signal transmitter.

20. The method according to claim 19, wherein the step of determining the at least one distance includes measuring the distance using a measuring device which is attached to a rear part of the towing vehicle.

21. The method according to claim 19, wherein the step of determining the instability of the trailer includes determining a pendulum-type motion of the trailer relative to a longitudinal axis of the towing vehicle.