Electronic control system for a vehicle and method for determining at least one driver-independent intervention in a vehicle system

• US 7,668,633 B2
• Filed: 03/26/2004
• Issued: 02/23/2010
• Est. Priority Date: 03/26/2003
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Company HG (Continental AG)
• Inventors: Klug, Michael, Diebold, Jurgen
• Primary Examiner(s): Camby; Richard M.
• Application Number:
  US10/550,315
• Publication Number:
  US 20060195231A1
• Time in Patent Office: 2,160 Days
• Field of Search: 701/1, 701/36, 701/45, 701/46, 701/47, 701/70, 701/78, 701/83, 701/96, 340/905, 340/936, 340/436, 340/939
• US Class Current: 701/36
• CPC Class Codes: B60R 2021/01311 monitoring the braking system, e.g. ABS
• CPC Class Codes: B60R 2021/01313 monitoring the vehicle steering system or the dynamic control system
• 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: B60R 21/01512 Passenger detection systems
• CPC Class Codes: B60R 21/01546 using belt buckle sensors
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/03 Brake assistants
• 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 2201/122 Pre-actuation in case of ESP control
• CPC Class Codes: B60T 2220/04 Pedal travel sensor, stroke sensor; Sensing brake request
• CPC Class Codes: B60T 2260/08 Coordination of integrated 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 8/174 characterised by using special control logic, e.g. fuzzy logic , neural computing
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• 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: B60T 8/17616 Microprocessor-based systems
• CPC Class Codes: B60T 8/3275 Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
• CPC Class Codes: B60W 2050/0016 State machine analysis
• CPC Class Codes: B60W 2050/0297 : Control Giving priority to different actuators or systems
• CPC Class Codes: B60W 2050/143 : Alarm means
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering

Abstract

In a method for determining at least one, preferably however several driver-independent interventions in a vehicle system, a risk calculator is used, whose input is supplied with predetermined vehicle data, ambience data, current vehicle and driver data, occupant data or data of persons outside the vehicle, or similar data. The risk calculator issues an evaluation of the risk situation of the vehicle and its occupants or the persons outside the vehicle based on said data and, in accordance with the evaluation and optional additional criteria or weightings, outputs driving signals controlling actuators that modify or trigger the driving behavior of the vehicle and/or the occupant protection system and/or protection means for other traffic participants (pedestrians, cyclists, etc.) in such a way that maximum protection is obtained for the persons and the vehicle according to a priority control.

Claims

1. An electronic control system for a vehicle,

comprising a driver request module for determining characteristic quantities with respect to the driver'"'"'s request from data at least representative of pedal travels, movements of the foot changing between the pedals and the brake pressure of the brake system, and

a risk calculator for determining risk potentials from predefined and current vehicle data and additional data, the risk calculator performing at least an assessment of the condition of danger of the vehicle and the occupants in the vehicle and, in case of need, outputs controlling interventions graded according to the risk potential for controlling actuators, and

an arbitration unit for receiving outputs from the risk calculator and performing an assessment with the data determined in the driver request module with regard to the characteristic quantities determined in the driver request module depending on an action influencing the driving dynamics of the vehicle brought about by the controlling interventions and, depending on the result of the assessment, releasing the graded controlling interventions to a limited extent, releasing them in their entirety, or blocking them.

2. The electronic control system as claimed in claim 1,

wherein the driver request module is capable of determining a repositioning movement of the driver'"'"'s foot between an accelerator pedal and a brake pedal from accelerator pedal travel information and brake light information as input quantities.

3. The electronic control system as claimed in claim 2,

wherein the driver request module is capable of determining the time of repositioning the foot between the pedals from the input quantities.

4. The electronic control system as claimed in claim 1,

wherein the driver request module (29) is capable of supplying the characteristic quantities determined to the subsequent arbitration unit.

5. The electronic control system as claimed in claim 4,

wherein the driver request module is capable of supplying further characteristic quantities to the subsequent arbitration unit (28).

6. The electronic control system as claimed in claim 1,

wherein the risk calculator is capable of calculating risk potentials from data relating to at least the vehicle longitudinal speed, the vehicle longitudinal acceleration, the vehicle lateral acceleration, the distances from relevant objects and state data about driving dynamics controllers, said risk potentials, at least in dependence on determined dynamics risk characteristic quantities, producing controller outputs graded in their effect and dependent on the determined risk potential for applying brakes, for adjusting reversible occupant protection means and for adjusting devices that change the relative position between occupant protection means and vehicle occupants.

7. The electronic control system as claimed in claim 1,

wherein the risk calculator (10) calculates risk potentials from data representing at least the vehicle longitudinal speed, the vehicle longitudinal acceleration and the vehicle lateral acceleration, and at least one of the following quantities:

the distance from relevant objects in the local area, the distance from relevant objects in at least one remote area, a derivative of at least one of the afore-mentioned quantities and state data about at least one driving dynamics controller;

said risk potentials, at least in dependence on determined dynamical-risk characteristic quantities, producing controller outputs for closing vehicle openings.

8. The electronic control system as claimed in claim 1,

wherein, depending on the risk potential determined, the risk calculator (10) further generates signals to warn the driver of the vehicle or to guide the driver to a reaction that is adapted to the current vehicle situation and passes on these signals directly to the actuators (18, 16) for realization.

9. The electronic control system as claimed in claim 8,

wherein the warnings are given by means of a vehicle part that is in contact with a body part of the driver.

10. The electronic control system as claimed in claim 8,

wherein the directions are given by means of a modified control force on at least a pedal or the steering wheel.

11. The electronic control system as claimed in claim 1,

wherein the risk calculator (10) calculates risk potentials from data representing at least the vehicle longitudinal speed, the vehicle longitudinal acceleration and the vehicle lateral acceleration, and at least one of the following quantities:

the distance from relevant objects in the local area, the distance from relevant objects in at least one remote area, a derivative of at least one of the afore-mentioned quantities and state data about at least one driving dynamics controller;

said risk potentials, at least in dependence on dynamical-risk characteristic quantities, producing information for a non-reversible occupant protection means and for the control systems of the non-reversible occupant protection means.

12. The electronic control system as claimed in claim 1,

wherein the risk calculator determines different risk potentials and combines them for producing the controlling interventions.

13. The electronic control system as claimed in claim 1,

wherein the risk calculator determines risk potentials by way of a fuzzy system and/or in a driving-dynamics model.

14. The electronic control system as claimed in claim 1,

wherein the risk calculator determines risk potentials by way in a driving-dynamics model.

15. The electronic control system as claimed in claim 12,

wherein the risk calculator determines general risk potentials and special risk potentials, with the general risk potentials being actuator-independent and the special risk potentials being actuator-dependent.

16. The electronic control system as claimed claim 1,

wherein the arbitration unit includes a state machine which arbitrates the characteristic quantities provided by the driver request module (29) including at least one of the following quantities:

brake pedal travel, brake pedal speed, accelerator pedal travel, accelerator pedal speed, the time of repositioning the foot between the accelerator pedal and the brake pedal, the condition (on/off) of a brake light, measured brake pressures of the brake system, calculated brake pressures of the brake system, the acceleration of the vehicle, the risk potentials determined by the risk calculator, and derivatives of the aforementioned quantities, with respect to the braking interventions determined by the risk calculator.

17. The electronic control system as claimed in claim 16,

wherein the arbitration unit determines a braking intervention depending on the characteristic quantities accelerator pedal travel, brake pedal travel and at least one of the following quantities:

brake pressures, brake pressure changes, acceleration, brake light information of the driver request module representative of the driver'"'"'s request, and wherein the arbitration unit derives levels for maximum decelerations according to threshold values of these characteristic quantities and the risk potentials.

18. The electronic control system as claimed in claim 17,

wherein arbitration unit establishes a characteristic factor defining the degree of the braking request of the driver depending on the weighting of the following conditions:

a) ratio of the brake pedal travel to the maximum of the brake pedal travel,

b) ratio of brake pedal speed to the maximum of the brake pedal speed;

c) factor assessing the time of repositioning the foot from the accelerator pedal to the brake pedal.

19. The electronic control system as claimed in claim 17,

wherein arbitration unit establishes a characteristic factor defining the degree of the braking request of the driver depending on the weighting of the following conditions:

a) ratio of a brake pressure requested by the driver to the average maximum of an emergency brake pressure;

b) ratio of the time gradient of the brake pressure requested by the driver to the average time gradient of a maximum of an emergency brake pressure;

c) factor assessing the time of repositioning the foot from the accelerator pedal to the brake pedal.

20. The electronic control system as claimed in claim 17,

wherein the arbitration unit determines an emergency brake situation from the time variation of the brake pressure and the brake light information and the time variation of the risk potential.

21. The electronic control system as claimed in claim 20,

wherein when the emergency brake situation is detected, the deceleration calculated by the risk calculator is conducted entirely as a nominal value to the brake actuators.

22. A method for determining at least one driver-independent intervention into a vehicle system, including the steps of

determining a driver'"'"'s request in a driver request module including characteristic quantities with respect to the driver'"'"'s request, from data being at least representative of pedal travels, movements of a foot changing between pedals, and brake pressure of a brake system,

determining a risk potential in a risk calculator from predefined and current vehicle data and additional data, including ambience data and driver data, and optionally data of persons inside and outside the vehicle,

performing at least an assessment of the condition of danger of the vehicle and the occupants of the vehicle within the risk calculator,

depending on the assessment and on further criteria, supplying outputs controlling interventions graded according to the risk potential to an arbitration unit for the purpose of controlling actuators, and

performing an assessment in said arbitration unit with the data determined in the driver request module with regard to the driver'"'"' request depending on an action influencing the driving dynamics of the vehicle brought about by the controlling interventions, and

initiating, from the arbitration unit, graded controlling interventions to a limited extent, releasing them without limitation or completely blocking them depending on the result of the assessment.