Device for providing signals in a motor vehicle

• US 7,138,909 B2
• Filed: 12/04/2001
• Issued: 11/21/2006
• Est. Priority Date: 01/23/2001
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Winner, Hermann
• Primary Examiner(s): Pope, Daryl C.
• Application Number:
  US10/239,589
• Publication Number:
  US 20050060071A1
• Time in Patent Office: 1,813 Days
• Field of Search: 340/438, 340/903, 340/435, 340/436, 340/437
• US Class Current: 340/438
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control 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: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes

Abstract

A device and an associated method are provided, in which a function processes input variables and generates functional output signals. These output signals are stored and held in readiness for readout operations. Given the presence of specific conditions, an instantaneous data record is safeguarded in a nonvolatile memory device until it has been read out via an interface. The control device and the associated method make it possible to test control possibilities planned in future, without having to fear unexpected and unwanted function reactions which have an effect on the vehicle dynamics.

Claims

1. A device for making an output signal available in a motor vehicle, comprising:

an arrangement configured to generate and hold at least one non-convertible manipulated variable in readiness for at least one readout operation for the motor vehicle, as the output signal;

wherein the arrangement generates the at least one non-convertible manipulated variable as a function of at least one input variable;

wherein a plurality of non-convertible manipulated variables are generated by the arrangement, and wherein the plurality of non-convertible manipulated variables represent a triggering of an automatic braking and an implementation of an automatic steering intervention, the automatic braking providing a deceleration which lies in a range of a maximum possible deceleration for the motor vehicle, and the steering intervention providing a steering movement of a plurality of wheels of the motor vehicle such that a timely evasion of an obstacle is made possible.

2. The device as recited in claim 1, wherein the arrangement executes a function that relates to at least one control possibility intended in a future.

3. The device as recited in claim 1, wherein the arrangement processes at least one of a plurality of input variables, the plurality of input variables including at least one of:

a distance to a forward vehicle;

a relative velocity of the forward vehicle with respect to the motor vehicle;

a sway of the forward vehicle relative to the motor vehicle;

a velocity of the motor vehicle;

an acceleration of the motor vehicle;

a yaw rate;

a lateral acceleration of the motor vehicle;

a steering wheel angle;

a relative lateral velocity of the forward vehicle with respect to the motor vehicle;

a height of a detected object;

an expansion of the detected object in a transverse direction; and

a road coefficient of friction.

4. The device as recited in claim 1, further comprising at least one sensor chosen from the group of sensors including:

a radar sensor;

a lidar sensor;

a video sensor;

a multi-video sensor;

a yaw rate sensor;

a steering angle sensor; and

a wheel speed sensor;

wherein the at least one input variable is provided by the at least one sensor.

5. The device as recited in claim 1, wherein the at least one non-convertible manipulated variable is configured to be output by an activation signal to at least one final controlling element, the at least one non-convertible manipulated variable becoming a convertible manipulated variable after being output.

6. The device as recited in claim 1, further comprising a nonvolatile memory device for storing the at least one non-convertible manipulated variable in such a manner that the at least one non-convertible manipulated variable is able to be overwritten only after the at least one readout operation.

7. The device as recited in claim 1, wherein the device is for performing an adaptive cruise control.

8. The device as recited in claim 1, wherein the at least one input variable includes one of a distance to an object in a direction of travel and a relative velocity with respect to the object.

9. A method for making an output signal available in a motor vehicle, comprising:

generating at least one non-convertible manipulated variable for the motor vehicle, as a function of at least one input variable;

storing the at least one non-convertible manipulated variable; and

holding in readiness for a readout operation the at least one non-convertible manipulated variable;

wherein the generating, storing, and holding in readiness of the at least one non-convertible manipulated variable are performed with an aid of an arrangement provided in a control device;

wherein a plurality of non-convertible manipulated variables are generated, and wherein the plurality of non-convertible manipulated variables represent;

a triggering of an automatic braking, a deceleration that lies in a range of a maximum possible deceleration for the motor vehicle being provided as the automatic braking; and

an implementation of an automatic steering intervention, a steering movement of a plurality of wheels of the motor vehicle being provided such that a timely evasion of an obstacle is made possible as the steering intervention.

10. The method as recited in claim 9, wherein the method represents a control possibility intended in a future.

11. The method as recited in claim 9, wherein:

the at least one non-convertible manipulated variable is configured to trigger at least one of a braking and a steering intervention, the braking lying in a range of a maximum possible deceleration for the motor vehicle, the steering intervention providing a steering movement of a plurality of wheels of the motor vehicle for a timely evasion of an obstacle; and

the at least one non-convertible manipulated variable is output when the inequation

−

(d/vr)≦

sqrt(2·

deltayFlucht/|ay|)·

alphai

 

is satisfied, where

d represents a distance to a forward vehicle,

vr represents a relative velocity of the forward vehicle with respect to the motor vehicle,

deltayFlucht represents half of a width of the motor vehicle minus an amount of a lateral offset of a detected target object with respect to an extended center vehicle axis of the motor vehicle plus half an object expansion of the detected target object perpendicular to the extended center vehicle axis,

ay represents an average, maximum possible lateral acceleration of the motor vehicle during an evasive maneuver, and

alphai represents a safety factor, the safety factor being one of less than one and equal to one.

12. The method as recited in claim 9, wherein the storing of the at least one non-convertible manipulated variable is performed as one of:

as a data record of all input variables upon occurrence of a triggering signal;

in a class system which records an occurrence frequency of the triggering signal as another function of at least one safety factor; and

only when (−

(vr/d)·

(2·

deltayFlucht/|ay|)½

·

alphai) reaches a value which is greater, than a smallest value of a fixed number of previously reached peak values, where

d represents a distance to a forward vehicle,

vr represents a relative velocity of the forward vehicle with respect to the motor vehicle,

deltayFlucht represents half of a width of the motor vehicle minus an amount of a lateral offset of a detected target object with respect to an extended center vehicle axis of the motor vehicle plus half an object expansion of the detected target object perpendicular to the extended center vehicle axis,

ay represents an average, maximum possible lateral acceleration of the motor vehicle during an evasive maneuver, and

alphai represents a safety factor, the safety factor being one of less than one and equal to one.

13. The method as recited in claim 9, further comprising:

determining whether a false release of a triggering signal has occurred by evaluating the at least one input variable; and

if a false release has occurred, storing a further data record.

14. The method as recited in claim 9, wherein the at least one input variable includes one of a distance to an object in a direction of travel and a relative velocity with respect to the object.