Method for preventing the collision of a vehicle with an obstacle located in front of the vehicle and braking device

• US 6,624,747 B1
• Filed: 10/13/2000
• Issued: 09/23/2003
• Est. Priority Date: 02/18/1998
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Kroeger, Harald, Spaude, Heinz-Werner, Friederich, Michael, Hartlieb, Markus
• Primary Examiner(s): Lee, Benjamin C.
• Assistant Examiner(s): Nguyen, Phung
• Application Number:
  US09/622,442
• Time in Patent Office: 1,075 Days
• Field of Search: 340/436, 340/435, 340/903, 340/439, 701/70, 701/301, 701/41, 701/45, 701/48, 701/93, 180/275, 180/282, 180/271, 342/71
• US Class Current: 340/436
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/024 Collision mitigation 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 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• 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 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 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

In a method for preventing a collision of a vehicle with an obstacle located on its front (such as preferably another vehicle traveling in front of the vehicle), the headway between the vehicle and the obstacle and the difference in speeds of the vehicle and of the obstacle (relative speed) and also the speed and acceleration/deceleration of the vehicle are detected and a collision message and/or a braking operation is triggered as a function thereof. The driver'"'"'s activity, the state of the road, the loading state and the degree of overlap of the vehicle relative to the obstacle are detected, and from this information, a first headway (D_brake) between the vehicle and the obstacle is calculated, which is the least necessary to avoid a collision of a vehicle with the obstacle by steering the vehicle past the obstacle. In addition, a second headway (D_steer) is calculated, which is the least necessary to avoid a collision by steering the vehicle past the obstacle. Automatic braking is initiated only when the detected headway is smaller than both the first and second calculated headway values, and when the degree of overlap

Claims

1. A method for preventing a collision of a vehicle with an obstacle located to its front, in which the headway between the vehicle and the obstacle, relative speed of the vehicle with respect to the obstacle and speed and acceleration/deceleration of the vehicle are detected and a collision message or a braking operation is triggered as a function of this information, said method comprising:

detecting activity of a vehicle driver, the state of the road, the loading state and the degree of overlap of the vehicle relative to the obstacle;

based on this information, calculating a first headway between the vehicle and the obstacle which is a least distance necessary to avoid a collision of the vehicle with the obstacle by means of a braking operation with maximum deceleration;

calculating a second headway which is a least distance necessary to avoid a collision of the vehicle with the obstacle by steering the vehicle past the obstacle; and

initiating an automatic braking operation only when the detected headway is smaller than both the first and second calculated headways, and the degree of overlap exceeds a predetermined threshold.

2. The method according to claim 1, wherein said step of detecting activity of the vehicle driver comprises detecting driver evasive actions that are indicative of driver initiated collision avoidance maneuver, including at least one of driver accelerator pedal actuation, brake pedal actuation, of a direction indicator, and a degree of steering angle lock.

3. The method according to claim 2, wherein:

the variables the first headway and the second headway are reduced by a predeterminable amount in response to detection of driver evasive actions; and

said driver evasive actions are detected when

the vehicles only half overlap one another;

or

the direction indicator is actuated and the accelerator pedal is actuated up to a predeterminable threshold value;

or

the direction indicator is actuated and a predetermined steering angle is exceeded;

or

the brake pedal is actuated up to a predeterminable threshold value.

4. The method according to claim 1, wherein the vehicle is braked with maximum deceleration until the relative speed is zero.

5. The method according to claim 1, wherein said step of initiating automatic braking comprises switching on brake lights of the vehicle before an automatic braking operation is initiated.

6. A braking device for a vehicle, having at least one object-detecting sensor for detecting headway between the vehicle and an obstacle located to its front, and relative speed of the vehicle and the obstacle, and a central control unit which automatically actuates a brake unit as a function of signals detected by the sensors, comprising:

at least one sensor for detecting activity of a vehicle driver;

at least one sensor for detecting a degree of overlap of the vehicle relative to the obstacle;

at least one sensor for detecting a loading state of the vehicle;

at least one sensor for detecting the state of the road; and

a central control unit coupled to receive output signals from said sensors, for triggering a braking operation;

wherein said central control unit calculates a maximum braking deceleration as a function of signals emitted by the sensors, when detected headway between the vehicle and an obstacle located to its front is smaller than both a first calculated headway between the vehicle and the obstacles which is the least distance necessary to avoid a collision of the vehicle with the obstacle by means of a braking operation with maximum deceleration, and a second calculated headway which is the least distance necessary to avoid a collision of the vehicle with the obstacle by steering the vehicle passed the obstacle, and a detected degree of overlap exceeds a predetermined threshold.

7. The braking device according to claim 6, wherein the sensors for detecting activity of a vehicle driver are sensors for detecting at least one of brake pedal actuation, accelerator pedal actuation, actuation of a direction indicator, and a degree of steering angle lock.

8. The braking device according to claim 6 wherein the sensors for detecting the headway and the relative speed, and for detecting the degree of overlaps, are radar sensors arranged, spaced apart, on the front side of the vehicle.

9. The braking device according to claim 6, wherein the brake is an electronically activatable compressed-air brake.