Determining an activation criterion for a brake application

• US 10,046,761 B2
• Filed: 11/30/2013
• Issued: 08/14/2018
• Est. Priority Date: 01/25/2013
• Status: Active Grant

• Current Assignee: ZF CV Systems Europe BV
• Original Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Inventors: Meyer, Rudiger, Sandkuhler, Dirk, Sulzbacher, Christian
• Primary Examiner(s): Dager, Jonathan M
• Assistant Examiner(s): Evans, Garrett F
• Application Number:
  US14/762,524
• Publication Number:
  US 20150360687A1
• Time in Patent Office: 1,718 Days
• Field of Search: None
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2210/24 Curve radius
• 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 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

To determine an activation criterion for outputting brake signals to a vehicle brake system at least one object in the environment of the vehicle is detected. A determination is made whether the vehicle is on a collision course with the object. If so, at least one avoidance criterion is determined, wherein an S-shaped avoidance trajectory of the vehicle is determined, from which at least one extreme value of a lateral acceleration of the vehicle is determined. The extreme value is compared with at least one threshold value. The avoidance criterion is met if the associated extreme value falls below the threshold value, and the activation criterion for the brake application is not met as long as the avoidance criterion is met.

Claims

1. A method for automatically activating a brake application in a vehicle having a brake system, the method comprising:

using at least one detection device, detecting at least one object in the environment of the vehicle; and

using at least one processor;

determining whether the vehicle is on a collision course with the at least one object,

when the vehicle is on a collision course with the at least one object, determining an S-shaped avoidance trajectory of the vehicle and at least one avoidance criterion based at least in part on the S-shaped avoidance trajectory,

determining at least one extreme value of a transverse acceleration of the vehicle from the S-shaped avoidance trajectory,

comparing the at least one extreme value with a first transverse acceleration threshold value and a second transverse acceleration threshold value

outputting a brake warning signal when the at least one extreme value exceeds the first transverse acceleration threshold but falls below the second transverse acceleration threshold value, and

outputting a brake control signal to the brake system to automatically effect activation of the brake application in the vehicle when the at least one extreme value exceeds the second transverse acceleration threshold value.

2. The method as claimed in claim 1, wherein the S-shaped avoidance trajectory is described as a function of trajectory parameters that are coordinates of a coordinate system.

3. The method as claimed in claim 2, wherein the coordinates of the coordinate system are polar coordinates.

4. The method as claimed in claim 2, wherein the coordinates of the coordinate system are Cartesian coordinates.

5. The method as claimed in claim 2, wherein the S-shaped avoidance trajectory is differentiated at least twice continuously according to at least one trajectory parameter.

6. The method as claimed in claim 2, wherein the S-shaped avoidance trajectory comprises a turning point as a function of at least one trajectory parameter.

7. The method as claimed in claim 1, wherein the S-shaped avoidance trajectory comprises a trigonometric function.

8. The method as claimed in claim 7, wherein the trigonometric function is applicable only for a first time interval of one of 0 to 2*Pi and 0°

to 360°

.

9. The method as claimed in claim 1, wherein a second derivative of the S-shaped avoidance trajectory comprises a trigonometric function.

10. The method as claimed in claim 2, wherein the S-shaped avoidance trajectory is produced according to a function T(k)=a*k+b*sin(c*k), wherein k is a trajectory parameter, T(k) is a trajectory based upon the trajectory parameter k, and a, b and c are scale parameters that are based upon (i) a distance between the vehicle and the at least one object, (ii) a lateral displacement between the vehicle and the at least one object, and (iii) a width of the vehicle and the at least one object.

11. The method as claimed in claim 10, wherein the distance between the vehicle and the at least one object is based on at least one of (i) a change in the distance as a result of associated movement of the at least one object during an avoidance maneuver calculated using the S-shaped avoidance trajectory and (ii) a lateral displacement between the vehicle and the at least one object at a point in time at which the vehicle arrives at the at least one object in the S-shaped avoidance trajectory.

12. The method as claimed in claim 1, further comprising determining at least one of (i) at least one brake criterion and (ii) a vehicle path criterion, and outputting the brake control signal to the brake system to automatically effect activation of the brake application in the vehicle only when the at least one extreme value exceeds the second transverse acceleration threshold value and at least one of the at least one brake criterion and the vehicle path criterion is also fulfilled.

13. The method as claimed in claim 12, further comprising activating the at least one brake criterion when a longitudinal acceleration value of the vehicle is exceeded.

14. The method as claimed in claim 12, further comprising activating the vehicle path criterion when a vehicle path threshold value is exceeded by the vehicle.

15. The method as claimed in claim 1, further comprising combining multiple adjacent ones of the at least one object to form one common object area, wherein a distance between adjacent ones of the at least one object is less than one of a width and scaled width of the vehicle.

16. An emergency brake system for a vehicle, the system comprising a camera system;

a proximity sensor;

a sensor system;

a primary brake system; and

an ECU configured to effect the method according to claim 1.

17. A vehicle, comprising an emergency brake system, the emergency brake system including a camera system, a proximity sensor, a sensor system, a primary brake system, and an electronic control unit (ECU) configured to effect the method according to claim 1.

18. The method as claimed in claim 3, wherein the polar coordinates are a circle radius and a circle angle.

19. The method as claimed in claim 5, wherein the at least one trajectory parameter includes one of a circle angle and an x-coordinate.

20. The method as claimed in claim 6, wherein the at least one trajectory parameter includes one of a circle angle and an x-coordinate.

21. The method as claimed in claim 14, wherein the vehicle path criterion is activated when the vehicle path of the vehicle overlaps with the at least one object.

22. A method for automatically activating a brake application in a vehicle having a brake system, the method comprising:

using at least one detection device, detecting at least one object in the environment of the vehicle; and

using at least one processor;

determining whether the vehicle is on a collision course with the at least one object,

when the vehicle is on a collision course with the at least one object, determining an S-shaped avoidance trajectory of the vehicle and at least one avoidance criterion based at least in part on the S-shaped avoidance trajectory,

determining at least one extreme value of a transverse acceleration of the vehicle from the S-shaped avoidance trajectory,

determining whether the at least one avoidance criteria is fulfilled by comparing the at least one extreme value with at least one threshold value, wherein the avoidance criteria is fulfilled when the at least one extreme value falls below the at least one threshold value, and

activating an automatic brake application in the vehicle when an activation criterion for the automatic brake application is fulfilled, wherein the activation criterion for the automatic brake application is not fulfilled as long as the at least one avoidance criterion is fulfilled,

wherein the S-shaped avoidance trajectory is produced according to a function T(k)=a*k+b*sin(c*k), wherein k is a trajectory parameter, T(k) is a trajectory based upon the trajectory parameter k, and a, b and c are scale parameters that are based upon (i) a distance between the vehicle and the at least one object, (ii) a lateral displacement between the vehicle and the at least one object, and (iii) a width of the vehicle and the at least one object.

23. A method for automatically activating a brake application in a vehicle having a brake system, the method comprising:

using at least one detection device, detecting multiple objects in the environment of the vehicle;

determining that a distance between adjacent ones of the multiple objects is less than one of a width and a scaled width of the vehicle, and in response, combining the multiple objects to form one common object area, and

using at least one processor;

determining whether the vehicle is on a collision course with the common object area,

when the vehicle is on a collision course with the common object area, determining an S-shaped avoidance trajectory of the vehicle and at least one avoidance criterion based at least in part on the S-shaped avoidance trajectory,

determining at least one extreme value of a transverse acceleration of the vehicle from the S-shaped avoidance trajectory,

determining whether the at least one avoidance criteria is fulfilled by comparing the at least one extreme value with at least one threshold value, wherein the avoidance criteria is fulfilled when the at least one extreme value falls below the at least one threshold value, and

activating an automatic brake application in the vehicle when an activation criterion for the automatic brake application is fulfilled, wherein the activation criterion for the automatic brake application is not fulfilled as long as the at least one avoidance criterion is fulfilled.