Method and device for avoiding and/or reducing the consequences of collisions upon evasion with respect to obstacles

• US 8,392,062 B2
• Filed: 01/12/2006
• Issued: 03/05/2013
• Est. Priority Date: 01/25/2005
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Oechsle, Fred, Branz, Wolfgang, Schmidt, Christian
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US11/795,108
• Publication Number:
  US 20080319610A1
• Time in Patent Office: 2,609 Days
• Field of Search: 701/1, 701/29, 701/36, 701/41, 701/45, 701/70, 701/71, 701/72, 701/48, 701/78, 701/93, 701/96, 701/97, 701/300, 701/301, 701/29.1, 701/29.2, 701/400, 701/408, 701/514, 701/515, 701/519, 340/901, 340/903, 340/904, 340/435, 340/436, 340/438, 180/271, 180/272, 180/275, 180/280, 303/121, 303/125, 303138-140, 303/146
• US Class Current: 701/41
• 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 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• 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 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• 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 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A method and a device for assisting a driver of a vehicle to avoid collisions with obstacles are provided, in which method at least one obstacle is detected by way of at least one surroundings sensor, and data of the obstacle are ascertained. On the basis of the data of the obstacle and data of the vehicle, a vehicle deceleration that is favorable for assistance of an evasive operation is ascertained, and the vehicle is correspondingly decelerated.

Claims

1. A method for assisting a driver of a vehicle to avoid a collision with an obstacle, comprising:

detecting at least one obstacle by using at least one surroundings sensor, wherein physical data of the at least one obstacle is ascertained;

ascertaining, on the basis of the physical data of the at least one obstacle and physical data of the vehicle, a deceleration of the vehicle for a maneuver of the vehicle which, when performed in conjunction with a potential evasive steering operation by the driver providing a transverse vehicle motion, avoids the collision;

determining on the basis of the physical data of the at least one obstacle and the physical data of the vehicle whether the collision with the obstacle is avoidable by steering alone;

responsive to determining that the collision with the obstacle is not avoidable by steering alone, initiating a deceleration of the vehicle in accordance with the ascertained deceleration;

after initiating the deceleration, executing code;

to determine whether the driver has initiated an evasive action; and

that provides that;

responsive to a determination that an evasive action of the driver that includes the steering operation has been initiated, performing a steering assistance in conjunction with the decelerating of the vehicle in accordance with the ascertained deceleration, wherein the steering assistance includes modifying by a steering actuator the driver'"'"'s steering input so that a determined evasive trajectory of the vehicle for avoiding the collision is implemented; and

responsive to a determination that no evasive action of the driver has been initiated, decelerating the vehicle to minimize negative effects of the collision without performing a steering assistance.

2. The method as recited in claim 1, wherein the physical data of the at least one obstacle include at least one of motion parameters and extent parameters of the at least one obstacle.

3. The method as recited in claim 1, wherein the physical data of the vehicle include motion parameters of the vehicle.

4. The method as recited in claim 1, wherein in determining whether a collision with the obstacle is avoidable, motion-dynamics possibilities of the vehicle and the at least one obstacle are considered.

5. The method as recited in claim 1, further comprising:

warning the driver of the condition in which a collision is unavoidable by steering alone, wherein the warning is at least one of optical, acoustical and haptic warning.

6. The method as recited in claim 1, further comprising:

performing a reparameterization of a restraint system if it is determined that a collision is unavoidable by steering alone.

7. The method as recited in claim 1, wherein the decelerating is performed at a time determined to be while collision with the at least one obstacle is avoidable.

8. The method as recited in claim 1, wherein a determination is made on the basis of the physical data of the at least one obstacle and the physical data of the vehicle whether a collision with the obstacle is avoidable by braking of the vehicle alone, and wherein the initiating of the deceleration of the vehicle is performed if the collision with the obstacle is not avoidable by braking alone.

9. The method as recited in claim 8, wherein the physical data of the at least one obstacle include at least one of motion parameters and extent parameters of the at least one obstacle.

10. The method as recited in claim 8, wherein the physical data of the vehicle include motion parameters of the vehicle.

11. The method as recited in claim 8, wherein in determining whether a collision with the obstacle is avoidable, motion-dynamics possibilities of the vehicle and the at least one obstacle are considered.

12. The method as recited in claim 8, further comprising:

warning the driver of the condition in which a collision is unavoidable by braking alone, wherein the warning is at least one of optical, acoustical and haptic warning.

13. The method as recited in claim 8, further comprising:

actuating a reversible restraint system if it is determined that a collision is unavoidable by braking alone.

14. The method as recited in claim 8, further comprising:

performing a reparameterization of a restraint system if it is determined that a collision is unavoidable by braking alone.

15. A device for assisting a driver of a vehicle to avoid a collision with an obstacle, comprising:

at least one surrounding sensor configured to detect at least one obstacle; and

a control unit configured to receive signals from the at least one surroundings sensor, wherein the control unit;

ascertains physical data of the at least one obstacle on the basis of the signals from the at least one surrounding sensor;

is configured to ascertain, on the basis of the physical data of the at least one obstacle and physical data of the vehicle, a deceleration of the vehicle for a maneuver of the vehicle which, when performed in conjunction with a potential evasive steering operation by the driver providing a transverse vehicle motion, avoids the collision;

generates control signals to initiate a deceleration of the vehicle in accordance with the ascertained deceleration in response to determining that the collision with the obstacle is not avoidable by steering alone;

determines on the basis of the physical data of the at least one obstacle and the physical data of the vehicle whether the collision with the obstacle is avoidable by steering alone;

is configured to perform the following after initiating the deceleration;

respond to a detection of an evasive action of the driver that includes the steering operation, by performing a steering assistance in conjunction with the decelerating of the vehicle in accordance with the ascertained deceleration, wherein the steering assistance includes modifying by a steering actuator the driver'"'"'s steering input so that a determined evasive trajectory of the vehicle for avoiding the collision is implemented; and

respond to a failure to detect any evasive action of the driver, by decelerating the vehicle to minimize negative effects of the collision without performing a steering action.

16. A method for assisting a driver of a vehicle to avoid a collision with an obstacle, comprising:

detecting at least one obstacle by using at least one surroundings sensor, wherein physical data of the at least one obstacle is ascertained;

ascertaining, on the basis of the physical data of the at least one obstacle and physical data of the vehicle, a deceleration of the vehicle for a maneuver of the vehicle which includes a steering operation by the driver providing a transverse vehicle motion;

applying the physical data of the at least one obstacle and the physical data of the vehicle to determine where, in a range of distances, the vehicle is located relative to the obstacle, the range of distances including, in order of decreasing distance, a first distance in which the collision is avoidable by braking alone, a second distance in which the collision is avoidable by steering alone, and a third distance in which the collision can only be avoided by a combination of steering and braking; and

responsive to determining that the current distance between the vehicle and the obstacle is less than or equal to the third distance;

determining an optimal steering and braking strategy and performing a braking in accordance with the optimal strategy to assist a potential evasive steering performed by the driver;

determining whether there is an evasive intent based on steering input from the driver;

if it is determined that there is the evasive intent, responsive to the determining that there is the evasive intent, triggering a steering actuator to adapt the driver'"'"'s steering input to a steering value corresponding to the optimal strategy; and

if it is determined that there is not the evasive intent, responsive to the determining that there is not the evasive intent, triggering a braking actuator to further reduce a kinetic energy of the vehicle without triggering the steering actuator.

17. The method of claim 16, further comprising calculating the first, the second, and the third distances based on a specific delay for braking intervention and a specific transverse acceleration that can be driver established during a hazard situation.