Vehicle collision avoidance apparatus and method

• US 8,538,674 B2
• Filed: 10/23/2008
• Issued: 09/17/2013
• Est. Priority Date: 01/04/2008
• Status: Active Grant

• Current Assignee: ZF CV Systems Europe BV
• Original Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Inventors: Breuer, Karsten, Kitterer, Hartmut
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): MELTON, TODD M
• Application Number:
  US12/735,217
• Publication Number:
  US 20110015818A1
• Time in Patent Office: 1,790 Days
• Field of Search: 701/29
• US Class Current: 701/301
• 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 2201/024 Collision mitigation systems
• 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 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/1884 Avoiding stall or overspeed of the engine
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The present invention relates to a device for avoiding collision or for minimizing the collision severity in case of a collision, for vehicles, particularly for commercial vehicles, comprising an input unit for inputting criteria related to traffic conditions, and for determining threshold values related to traffic conditions, a detection unit for detecting objects in the environment of the vehicle, a measurement unit for determining the motion condition of the vehicle, a controller for processing the information obtained from the input unit, the detection unit, and the measuring unit, and for generating control signals for controlling the components related to the motion state of the vehicle, and an output unit for outputting the generated control signals. The invention further relates to a corresponding method and a computer program.

Claims

1. A collision avoidance/mitigation system for a vehicle, comprising:

an input unit configured for inputting traffic-situation-related criteria and for determining traffic-situation-related threshold values;

a sensing unit configured to sense objects in the vehicle surroundings, the sensing unit including at least one object-measuring system and at least one image-processing video system configured to determine the distance, width, relative speed, lateral offset and type of the surrounding objects;

a measuring unit configured to determine the state of movement of the vehicle;

a control unit configured to process information obtained from the input unit, the sensing unit and the measuring unit, and to generate control signals for actuating vehicle units that relate to the state of movement of the vehicle;

an output unit for outputting the generated control signals;

a brake system configured to automatically actuate brakes of the vehicle without driver intervention in response to the generated control signals; and

an automated transmission configured to open a clutch and to interrupt torque flux in response to the brakes being actuated without driver intervention based on the control signals.

2. The system according to claim 1, wherein the at least one object-measuring system is a laser system.

3. The system according to claim 2, wherein the laser system and the at least one image-processing video system are configured for multi-directional operation.

4. The system according to claim 1, further comprising a display device for outputting a warning.

5. The system according to claim 1, wherein each of the brakes is individually actuatable with differing degrees of intensity.

6. The system according to claim 5, further comprising an engine controller for controlling the torque output of an engine of the vehicle.

7. The system according to claim 5, further comprising an automatic transmission having a torque converter configured to convert torque flux.

8. The system according to claim 5, further comprising a steering system.

9. The system according to claim 1, wherein the at least one image-processing video system includes a lane camera of a lane departure warning system.

10. A vehicle, comprising a collision avoidance/mitigation system according to claim 1.

11. A collision avoidance/mitigation method for a vehicle, comprising the steps of:

inputting traffic-situation-related criteria and determining at least one traffic-situation-related threshold value using an input unit;

determining the distance, width, relative speed, lateral offset and type of objects in the vehicle surroundings using a sensing unit;

determining the state of movement of the vehicle using a measuring unit;

using a control unit, processing the at least one traffic-situation-related threshold value, the distance, width, relative speed, lateral offset and type of objects, and the state of movement of the vehicle to determine a traffic-situation-related characteristic value;

generating control signals for actuating an autonomous braking operation using the control unit when the characteristic value exceeds the traffic-situation-related threshold value;

outputting the control signals using an output unit to vehicle elements that influence the movement of the vehicle, and to a display device;

actuating brakes of a brake system of the vehicle based on the control signals; and

opening a clutch and interrupting torque flux in response to the brakes of the vehicle being actuated without driver intervention based on the control signals.

12. The method according to claim 11, further comprising the step of outputting a warning based on the control signals.

13. The method according to claim 12, wherein the warning is at least one of visual, audible and haptic.

14. The method according to claim 11, wherein each of the brakes is individually actuatable with differing degrees of intensity.

15. The method according to claim 11, wherein the vehicle has an engine controller, and further comprising the step of controlling the torque output of an engine of the vehicle based on the control signals.

16. The method according to claim 11, further comprising the step of actuating a steering system of the vehicle based on the control signals.

17. The method according to claim 16, wherein the control signals include information about a current state of avoidance spaces for avoiding a collision.

18. A computer program product comprising a computer usable physical medium storing a computer executable program to:

process information obtained from an input unit of a collision avoidance/mitigation apparatus of a vehicle relating to traffic-situation-related criteria and traffic-situation-related threshold values;

process information relating to objects in the surroundings of the vehicle obtained from a sensing unit of the collision avoidance/mitigation apparatus;

process information relating to the determination of the state of movement of the vehicle obtained from a measuring unit, of the collision avoidance/mitigation apparatus;

generate control signals for actuating vehicle units that relate to the state of movement of the vehicle;

actuate brakes of a brake system of the vehicle based on the control signals; and

open a clutch and interrupting torque flux in response to the brakes of the vehicle being actuated without driver intervention based on the control signals.

19. A data processor for a vehicle collision avoidance/mitigation system, the data processor comprising a computer executable program to:

process information relating to traffic-situation-related criteria and traffic-situation-related threshold values obtained from an input unit;

process information relating to objects in the surroundings of the vehicle obtained from a sensing unit;

process information relating to the determination of the state of movement of the vehicle obtained from a measuring unit of the collision avoidance/mitigation apparatus;

generate control signals for actuating vehicle units that relate to the state of movement of the vehicle;

actuate brakes of a brake system of the vehicle based on the control signals; and

open a clutch and interrupting torque flux in response to the brakes of the vehicle being actuated without driver intervention based on the control signals.