Method for assisting a driver of a motor vehicle

• US 9,783,169 B2
• Filed: 07/06/2011
• Issued: 10/10/2017
• Est. Priority Date: 07/07/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Seiter, Michael, Raisch, Florian
• Primary Examiner(s): Ramesh, Krishnan
• Application Number:
  US13/177,277
• Publication Number:
  US 20120173068A1
• Time in Patent Office: 2,288 Days
• Field of Search: 7 23, 701 23
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid 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: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal

Abstract

In a method for assisting a driver of a motor vehicle in a driving maneuver, the surroundings of the vehicle are recorded, and it is checked whether at least one object is located in the surroundings of the vehicle, and it is ascertained subsequently whether the vehicle is approaching the object, and a warning to the driver is output if the vehicle approaches the object up to a critical distance. The driver is warned by a warning jerk, and after the warning jerk has taken place, the speed of the vehicle is automatically reduced.

Claims

1. A method for assisting a driver of a motor vehicle in a driving maneuver, comprising:

recording, by at least one sensor, surroundings of the vehicle;

identifying, by a hardware control unit and based on the recorded surroundings, an object located in the surroundings of the vehicle;

ascertaining, by the control unit, whether the vehicle is approaching the object;

calculating, by the control unit, a distance based on a first path estimated to be covered during a driver reaction time and a second path in which the vehicle can be manually braked after the reaction time;

outputting a warning to the driver when the vehicle approaches the distance from the object, the warning including a warning jerk; and

after the warning jerk has taken place, automatically reducing the speed of the vehicle;

wherein the warning jerk includes one of;

(i) a deceleration of the vehicle in which the speed of the vehicle is reduced, and subsequent positive acceleration of the vehicle in which the speed of the vehicle is increased; and

(ii) positive acceleration of the vehicle in which the speed of the vehicle is increased and subsequent deceleration of the vehicle in which the speed of the vehicle is reduced.

2. The method according to claim 1, further comprising:

further recording the object after the outputting of the warning jerk; and

if the vehicle does not further approach the object, ending the reduction in the speed.

3. The method according to claim 1, wherein the warning jerk is performed at a time at which a distance from the object is still so great that the driver is able to bring the vehicle to a standstill before there is a collision with the object.

4. The method according to claim 1, further comprising performing an emergency braking process if the driver does not react to the warning jerk.

5. The method according to claim 4, wherein the emergency braking process is performed only when the distance from the vehicle to the object is dimensioned so that a stopping path that is based on the braking reaction time of the driver and the braking path distance of the vehicle would result in a collision with the object, and the braking path of the emergency braking process still results in a collision-free stopping of the vehicle.

6. The method according to claim 4, further comprising outputting an additional warning to the driver before the emergency braking process.

7. The method according to claim 6, wherein the additional warning includes a braking jerk that is stronger than the warning jerk.

8. The method according to claim 1, wherein the warning jerk, in response to a braking maneuver that has already been initiated by the driver, is output later than in the case of maintaining or increasing of speed of the vehicle by the driver.

9. The method according to claim 1, wherein the warning to the driver is output only at speeds below 30 km/h.

10. The method according to claim 1, wherein a height of the object is detected and the warning to the driver is output only if driving over the object is not possible, without damaging the vehicle, because of the height.

12. The method according to claim 1, further comprising carrying out an automatic emergency braking process conditional upon that:

(a) a latest possible point in time at which the automatic emergency braking process is able to prevent the vehicle from colliding with the object is determined to have been reached; and

(b) the distance between the vehicle and the object is less than the distance that is based on the first and second paths.

13. The method according to claim 1, further comprising:

identifying, based on the recorded surroundings, a height of the object;

identifying a speed of the vehicle; and

determining, as a function of the vehicle speed and the object height, whether the vehicle is able to drive over the object at the identified speed without damaging the vehicle;

wherein the warning is output conditional upon that the vehicle is determined to not be able to drive over the object at the identified speed without damaging the vehicle.

14. The method according to claim 1, wherein the warning jerk includes the deceleration of the vehicle and subsequent acceleration of the vehicle.

15. The method according to claim 1, wherein the warning jerk includes the acceleration of the vehicle and subsequent deceleration of the vehicle.

11. A device, comprising:

sensors adapted to record surroundings of a vehicle; and

a control unit adapted to;

evaluate data for detecting an object recorded by the sensors;

evaluate whether the vehicle is approaching the object;

calculate a distance based on a first path estimated to be covered during a driver reaction time and a second path in which the vehicle can be manually braked after the reaction time; and

based on the calculation;

actuate brakes of the vehicle to generate a warning jerk when the vehicle approaches the distance from the object; and

reduce the speed of the vehicle;

wherein the warning jerk includes one of;

(i) a deceleration of the vehicle in which the speed of the vehicle is reduced, and subsequent positive acceleration of the vehicle in which the speed of the vehicle is increased; and

(ii) positive acceleration of the vehicle in which the speed of the vehicle is increased and subsequent deceleration of the vehicle in which the speed of the vehicle is reduced.

16. The device according to claim 11, wherein at least a part of the control unit is arranged as a control unit of an automatic parking system.

17. The device according to claim 11, wherein at least a part of the control unit, which part controls the actuation of the brakes and reduction of the speed, includes a control unit of an electronic stability program.

18. The device according to claim 11, wherein the speed reduction is performed automatically and after the warning jerk has taken place, and the warning jerk and the speed reduction are performed by the actuation unit in response to an evaluation that the vehicle is approaching the minimum driver initiated stopping distance from the object.

19. A device adapted to perform a method for assisting a driver of a motor vehicle in a driving maneuver, the method including:

recording surroundings of the vehicle;

identifying, based on the recorded surroundings, an object located in the surroundings of the vehicle;

ascertaining whether the vehicle is approaching the object;

calculating a distance based on a first path estimated to be covered during a driver reaction time and a second path in which the vehicle can be manually braked after the reaction time;

outputting a warning to the driver when the vehicle approaches the distance from the object, the warning including a warning jerk; and

, after the warning jerk has taken place, automatically reducing the speed of the vehicle, the device comprising;

sensors adapted to perform the recording; and

a control unit adapted to perform the identifying, calculating, outputting, and speed reducing steps;

wherein the warning jerk includes one of;

(i) a deceleration of the vehicle in which the speed of the vehicle is reduced, and subsequent positive acceleration of the vehicle in which the speed of the vehicle is increased; and

(ii) positive acceleration of the vehicle in which the speed of the vehicle is increased and subsequent deceleration of the vehicle in which the speed of the vehicle is reduced.