Motor vehicle driving aid system

• US 6,873,286 B2
• Filed: 03/25/2002
• Issued: 03/29/2005
• Est. Priority Date: 03/26/2001
• Status: Expired due to Term

• Current Assignee: C.R.F. Societa Consortile Per Azioni, Arjowiggins Sas (UFK Management Holding GmbH)
• Original Assignee: C.R.F. Societa Consortile Per Azioni
• Inventors: Campo, Sebastiano, Citelli, Silvia, Cicilloni, Renzo, Albero, Domenico, Antonello, Pier Claudio, Chinu, Angela, Quenda, Valter, Murdocco, Vincenzo, Miglietta, Maurizio, Saroldi, Andrea
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): ALSOMIRI, ISAM A
• Application Number:
  US10/472,827
• Publication Number:
  US 20040155811A1
• Time in Patent Office: 1,100 Days
• Field of Search: 342/55, 342 70- 72, 342/109, 701/70, 701/79, 701/93, 701/96, 701/110, 701/301
• US Class Current: 342/71
• 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 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• 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 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• 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 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

The system comprises: detector devices (1) operable to provide electrical signals indicative of the relative distance and relative speed of the motor vehicle (V) with respect to a fixed or moving obstacle (O) ahead, and a processing and control unit (ECU) connected to such detector devices (1) as well as to brake actuators (2-4) and arranged to cause activation of the brake actuators (2-4) to effect automatic emergency braking of the motor vehicle (V) when the relative distance between the motor vehicle (V) and an obstacle (O) ahead lies between a first predetermined limit value (d_F) equal to the minimum value at which it is still possible to avoid collision by braking and a preselected intermediate value (d_E) comprised between said first limit value (d_F) and a second limit value (d_Ecrit) which is less than the said first limit value (d_f) and is equal to the minimum relative distance value at which it is still possible to follow a path which avoids the obstacle (O), or when the relative distance (d_R) becomes less than said second limit value (d_Ecrit).

Claims

1. A driving aid system (V) for a motor vehicle provided with electrically-controlled brake actuator means (2-4), the aid system comprising:

first detector means (1) operable to provide electrical signals indicative of the relative distance and relative speed of the of the motor vehicle (V) with respect to a fixed or moving obstacle (O) ahead, and first sensor means (14, 15) operable to provide signals indicative of the longitudinal speed of the motor-vehicle, and

processing and control means (ECU) connected to the said first detector means (1) as well as to the said brake actuator means (2-4) and arranged to

detect the occurrence of a first operating condition in which the relative distance (d_R) between the motor vehicle (V) and the obstacle (O) ahead is comprised between a first predetermined limit value (d_F), equal to the minimum value at which it is still possible to avoid the collision by braking and a preselected intermediate value (d_E), comprised between said first limit value (d_F) and a second limit value (d_Ecrit) which is less than the said first limit value (d_F) and is equal to the minimum relative distance at which it is still possible to follow an avoidance path around the obstacle (O); and

a second operating condition in which the relative distance (d_R) is less than said second limit value (d_Ecrit); and

cause activation of the said brake actuator means (2-4) to effect an automatic emergency braking of the motor vehicle (V) upon the occurrence of one of said operating conditions;

the system being characterised in that the said processing and control means (ECU) are further coupled to an electronic control system (19) for the propulsion means of the motor vehicle, and are operable, on the basis of signals provided from the said first detector means (1), to effect control of the longitudinal speed of advance of the motor vehicle (V) in such a way as to tend to maintain the longitudinal speed of the motor vehicle at a predetermined value when the said first detector means (1) do not indicate an obstacle ahead within a predetermined range or, selectively, the relative distance with respect to a vehicle ahead proceeding in the same direction, when the first detector means (1) indicate the presence thereof within a predetermined range;

said first sensor means (14, 15) being operable to also provide signals indicative of the speed of rotation of the engine of the motor-vehicle;

the said processing and control means (ECU) including

reference signal generator means (31) coupled to the said first sensor means (14, 15) and to the said first detector means (1) and arranged to generate a reference signal (a_xref) indicative of the relative longitudinal acceleration for the motor vehicle (V) as a function of the distance and relative speed with respect to the obstacle ahead, the longitudinal speed of the motor vehicle and the speed of rotation of the engine as well as the set value of the speed of advance of the vehicle or of the safety distance relative to a preceding vehicle (V);

feedback control means (32) connected to the said reference signal generator means (31) and arranged to provide an output compensation signal (a_xcomp) which is a function of the difference between the relative acceleration signal (a_xref) and the instantaneous longitudinal acceleration (a_F) of the motor vehicle (V);

summing means (33) operable to provide an output acceleration demand signal (a_xreq) for the motor vehicle, essentially proportional to the sum of the said reference signal (a_xref) and the compensation (a_xcomp), and

piloting and control means (34) operable to generate, on the basis of a predetermined mathematical model of the motor vehicle (V), control signals (T_R;

B) of the torque generated by the motor vehicle and/or of the motor vehicle braking intensity as a function of the longitudinal speed of the vehicle, the speed of rotation of the engine and the said longitudinal acceleration demand signal (a_xreq).

2. A system according to claim 1, in which the said processing and control means (ECU) are further arranged to activate signalling means (5) operable to provide the driver with an indication of the opportunity of performing a lateral avoidance maneuver around an obstacle (O) when the relative distance between the motor vehicle (V) and an obstacle ahead lies between said intermediate value (d_E) and the second limit value (d_Ecrit).

3. A system according to claim 1, for a motor vehicle (V) further provided with electrically-controlled steering actuator means (8, 9);

the system further including second detector means (17, 18) operable to provide electrical signals usable to evaluate the viability of a possible avoidance path around an obstacle (O) ahead of the motor vehicle (V);

the processing and control means (ECU) means being further arranged to control the said steering actuator means (8,9) automatically in a predetermined manner to follow an avoidance path around an obstacle (O) ahead if the relative distance between the motor vehicle (V) and said obstacle (O) has a value lying between said intermediate value (d_E) and the second limit value (d_Ecrit).

4. A system according to claim 3, wherein the processing and control means (ECU) are arranged to cause activation of the said brake actuator means (2-4) to effect an automatic emergency braking, when the relative distance (d_R) lies between the above-said intermediate value (d_E) and the second limit value (d_Ecrit) and said second detector means (17, 18) indicate the impossibility of performing a lateral avoidance path around the obstacle (O).

5. A system according to claim 3, in which the processing and control means (ECU) have associated therewith third detector means (20) operable to provide signals indicating the presence, the distance and the relative speed of vehicles overtaking the motor vehicle (V) from behind, and the said processing and control means (ECU) are also arranged to activate the said braking actuator means (2-4) and/or the steering means (8, 9) in dependence on the distance and relative speed of the vehicles overtaking the motor vehicle (V) from behind.

6. A system according to claim 1, for a vehicle provided with further detector means (11, 12) for detecting the position of the brake control pedal and the accelerator pedal, the said processing and control means (ECU) being connected to the said further detector means (11, 12) and being arranged to interrupt the control of the longitudinal speed of the motor vehicle (V) when one of the said pedals is actuated.

7. A system according to claim 1, in which the said feedback control means (32) are of proportional-integral type and the said compensation signal (a_xcomp) is essentially proportional to the integral of the difference between the relative acceleration (a_xref) and the instantaneous longitudinal acceleration (a_F) of the motor vehicle (V).

8. A system according to claim 1 for a motor vehicle (V) provided with electrically-controlled steering actuator means (8, 9);

the system further comprising fourth detector means (16) operable to provide signals usable to identify the instantaneous position of the motor vehicle (V) relative to detectable demarcation means which delimit or define the road lane in which the motor vehicle (V) is travelling;

the said processing and control means (ECU) being connected to the said fourth detector means (16) and arranged to determine the instantaneous position of the motor vehicle (V) relative to the said demarcation means; and

control the said actuator means (8, 9) in a predetermined manner in such a way that the motor vehicle (V) continues to proceed within the said road lane.

9. A system according to claim 8, for a motor vehicle (V) with a steering column (6) which has an associated sensor means (10) operable to provide signals indicative of the torque applied to this column (6) by the driver, and in which there are provided sensor means (13) for detecting activation of the direction indicators;

said processing and control means (ECU) being arranged to reduce the weight of the control action of the said steering actuator means (8, 9) when the driver applies to the steering column (6) a torque greater than a predetermined value and/or to interrupt the said control action when the driver activates a direction indicator.

10. A system according to claim 8, including further detector means (17, 18) operable to provide signals able to allow a monitoring of the traffic to the sides and rear of the motor vehicle (V), and in which the said processing and control means (ECU) are further arranged to pilot the steering actuator means (8, 9) in such a way as to apply to the steering column a resisting torque when the driver tends to displace the vehicle laterally whilst the signals provided by the said further detector means (17, 18) are indicative of a situation which could lead to a collision of the motor vehicle (V) with other overtaking motor vehicles or with lateral obstacles.