Method and device for initiating and executing a deceleration of a vehicle

• US 6,856,906 B2
• Filed: 07/11/2002
• Issued: 02/15/2005
• Est. Priority Date: 07/11/2001
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Staemple, Martin, Heinebrodt, Martin, Winner, Hermann, Knoop, Michael, Braeuchle, Goetz, Oechsle, Fred, Wilhelm, Ulf, Thiele, Joachim, Uhler, Werner, Hermsen, Wolfgang, Weilkes, Michael
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US10/380,259
• Publication Number:
  US 20040030499A1
• Time in Patent Office: 950 Days
• Field of Search: 701/301, 701/96, 340/436, 340/438, 340 9- 3, 342/455
• US Class Current: 701/301
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60R 2021/01259 Brakes
• CPC Class Codes: B60R 2021/01311 monitoring the braking system, e.g. ABS
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• 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
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method and a device for triggering and implementing a deceleration of a vehicle to avoid a collision, in which, using a device for adaptive cruise control, objects in the sensor detection range are detected and measured variables are determined for each detected object. The detected objects are assigned to various object classes on the basis of the determined, associated measured variables, and the movement trajectories of the objects are predicted on the basis of the assignment of the detected objects to the particular class. Furthermore, a collision risk and an injury risk are determined from these predicted movement trajectories of the objects and the associated, detected object classes. In the event of the existence of preselected combinations of collision risks and injury risks, the deceleration devices of the vehicle are activated as a function of the degree of the collision risk.

Claims

1. A method of triggering and implementing a deceleration of a vehicle to at least one of avoid a collision and reduce severity of an impact with a object, the method comprising:

detecting an object in a sensor detection range using a device for adaptive cruise control of the vehicle;

determining measured variables for the detected object;

assigning the detected object to one of a plurality of object classes on a basis of the measured variables for the detected object;

predicting movement trajectories for the detected object on a basis of the assignment of the detected object to the one of the plurality object classes;

determining a collision risk on a basis of the predicted movement trajectories and the assigned object class of the detected object;

determining an injury risk is on a basis of the predicted movement trajectories and assigned object class of the detected object; and

activating deceleration devices of the vehicle in an event of at least one of a preselectable collision risk and a preselectable injury risk.

2. The method of claim 1, further comprising the step of:

activating further vehicle functions as a function of the collision risk determined.

3. The method of claim 2, wherein the further vehicle functions include at least one of:

(i) informing a driver of the vehicle about a current collision risk one of acoustically, optically, and kinesthetically, (ii) at least one of preparing and activating restraint system for vehicle occupants, reducing an engine speed to idle speed, (iii) putting transmission of the vehicle in neutral so that power is no longer transmitted, and (iv) storing the measured variables in a non-volatile storage medium.

4. The method of claim 1, wherein the device for adaptive cruise control of the vehicle includes at least one of a radar sensor, a lidar sensor and a video sensor.

5. The method of claim 1, wherein the measured variables include at least one of:

(i) a relative speed of the detected object, (ii) a distance of the detected object, (iii) a horizontal dimension of the detected object, (iv) a vertical dimension of the detected object, (v) a geometry of the detected object, and (vi) a surface composition of the detected reflecting surface.

6. The method of claim 1, wherein the plurality of object classes include a person class, motorcycle class, a small passenger car class, a large passenger car class, a truck class, a bus class, a traffic sign class, and a building class.

7. The method of claim 1, wherein the assignment of the object to the one of the plurality object class is performed as a function of one of at least one of:

(i)which sensor or sensor combination detects the object, and (ii) sensor or sensor combination is not able to detect the object.

8. The method of claim 1, further comprising:

showing vehicle dynamics model for each of the plurality of object classes, from which a movement trajectory predicted for the detected object with aid of the measured variable determined for the detected object.

9. The method of claim 8, wherein, during precalculation of the movement trajectories, only trajectories which, as a consequence of a combination of steering and braking interventions, forces arising on wheels of the vehicle are not greater than a maximum force transmittable from a wheel onto a roadway are taken into consideration.

10. The method of claim 1, wherein the collision risk represents a probability of a non-preventable impact.

11. The method of claim 1, wherein the preselectable collision risk, in an event of which the deceleration devices of the vehicle are activated, is a threshold value.

12. The method of claim 11, wherein the threshold value is changeable as a function of a traffic situation.

13. The method of claim 1, wherein the injury risk represents an impact kinetic energy to be expected of an unavoidable impact.

14. The method of claim 1, wherein the preselectable injury risk, in an event of which the deceleration devices of the vehicle are activated, is a threshold value.

15. The method of claim 14, wherein the threshold value is changeable as a function of a traffic situation.

16. The method of claim 1, wherein, during precalculation of the movement trajectories, only trajectories which, as a consequence of a combination of steering and braking interventions, forces arising on wheels of the vehicle are not greater than a maximum force transmittable from a wheel onto a roadway are taken into consideration.

17. A device for triggering and implementing a deceleration of a vehicle to at least one of avoid a collision and reduce a severity of an impact with an object, the device comprising:

an object classification arrangement which assigns a detected object into one of a plurality of object classes;

a prediction arrangement which determines a trajectory movement as a function of the assigned object class for the detected object;

a collision risk determining arrangement which determines a probability of an injury of with the detected object;

an injury risk determining arrangement which determines a probability of an injury of occupants of the vehicle as a consequence of an impact with the detected object; and

an arrangement for activating deceleration devices of the vehicle as a function of at least one of the probability of the impact and the probability of the injury;

wherein measured variables of a device for adaptive cruise control, which represent an object in a sensor detection range, are supplied to the device.