System and method for emergency braking

• US 11,623,622 B2
• Filed: 12/27/2019
• Issued: 04/11/2023
• Est. Priority Date: 12/27/2019
• Status: Active Grant

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Buerkle, Cornelius, Jarquin Arroyo, Julio, Oboril, Fabian, Geissler, Florian, Scholl, Kay-Ulrich, Alvarez, Ignacio
• Primary Examiner(s): Do, Truc M
• Application Number:
  US16/728,007
• Publication Number:
  US 20200130662A1
• Time in Patent Office: 1,201 Days
• 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 2210/10 Detection or estimation of road conditions
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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 8/321 deceleration B60T8/34, B60T8/52, B60T8/54, B60T8/56, B60T8/58, B60T8/72, B60T8/86, B60T8/88 take precedence
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

Aspects concern a method for controlling a braking of a vehicle. The method including detecting a braking situation, determining a classification of the braking situation, selecting a braking profile based on the determined classification, and applying a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile.

Claims

1. A method for controlling a braking of a vehicle, the method comprising:

detecting a braking situation;

determining a classification of the braking situation;

selecting a braking profile based on the determined classification, the braking profile selected from one of a normal braking profile and an emergency braking profile; and

applying a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile,

wherein a safety distance associated with the normal braking profile is greater than a safety distance associated with the emergency braking profile,

wherein the classification includes a normal braking situation and an emergency braking situation, wherein the normal braking profile corresponding to the normal braking situation comprises a minimum normal safety distance, a minimum normal deceleration, maximum normal deceleration, a normal response time, wherein the emergency braking profile corresponding to the emergency braking situation comprises a minimum emergency safety distance, a minimum emergency deceleration, a maximum emergency deceleration, and an emergency response time, wherein the vehicle has a maximum physical deceleration, and wherein the maximum physical deceleration is greater than or equal to the maximum emergency deceleration and the maximum emergency deceleration is greater than the maximum normal deceleration,

wherein the minimum emergency safety distance is determined based on the emergency response time, a velocity of the vehicle, a velocity of the leading vehicle, the minimum emergency deceleration, the maximum emergency deceleration, and the maximum physical deceleration of the vehicle.

2. The method of claim 1, further comprising:

dynamically changing from the normal braking profile to the emergency braking profile when the braking situation is classified as the emergency braking situation and using the emergency braking profile only while the emergency braking situation persists; and

applying the deceleration based on the emergency braking profile.

3. The method of claim 1, wherein the safety distance associated with the emergency braking profile, d_emergency, is determined by

4. The method of claim 1, wherein the maximum emergency deceleration is less than the maximum physical deceleration of the vehicle and wherein the deceleration a_r is between the minimum emergency deceleration and the maximum emergency deceleration.

5. The method of claim 4, wherein the deceleration a_r is determined based on

12. The method of claim 2, further comprising:

dynamically changing from the emergency braking profile to the normal braking profile when the emergency braking situation ends; and

applying the deceleration based on the normal braking profile.

13. The method of claim 1, wherein applying a deceleration based on the emergency braking profile includes dynamically applying a range of deceleration between the minimum emergency deceleration and the maximum emergency deceleration.

14. The method of claim 13, wherein the deceleration is determined based on the distance between the vehicle and a leading vehicle, the difference in velocity between the vehicles, and the difference in acceleration between the vehicles.

15. The method of claim 1, wherein the emergency response time is a time that the vehicle requires to determine that a leading vehicle is braking with a deceleration higher than is allowed under the normal braking profile.

16. The method of claim 15, wherein the minimum normal safety distance is determined based on the normal response time, the velocity of the leading vehicle, the velocity of the vehicle, the minimum normal deceleration, the maximum normal deceleration, and the maximum physical deceleration.

17. The method of claim 16, wherein the emergency response time is greater than the normal response time.

18. The method of claim 1, wherein determining the classification of the braking situation is based on a predetermined message received from a leading vehicle.

6. A system for controlling a braking of a vehicle, the system comprising:

one or more sensors configured to detect a braking situation;

one or more processors configured to

determine a classification of the braking situation;

select a braking profile based on the determined classification, the braking profile selected from one of a normal braking profile and an emergency braking profile; and

apply a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile,

wherein a safety distance associated with the normal braking profile is greater than a safety distance associated with the emergency braking profile,

wherein the classification includes a normal braking situation and an emergency braking situation, wherein the normal braking profile corresponding to the normal braking situation comprises a minimum normal deceleration and maximum normal deceleration, wherein the emergency braking profile corresponding to the emergency braking situation comprises a minimum emergency deceleration and a maximum emergency deceleration, wherein the vehicle has a maximum physical deceleration, and wherein the maximum physical deceleration is greater than or equal to the maximum emergency deceleration and the maximum emergency deceleration is greater than the maximum normal deceleration,

wherein the minimum emergency safety distance is determined based on the emergency response time, a velocity of the vehicle, a velocity of the leading vehicle, the minimum emergency deceleration, the maximum emergency deceleration, and the maximum physical deceleration of the vehicle.

7. The system of claim 6, wherein the one or more processors are further configured to dynamically change from the normal braking profile to the emergency braking profile when the braking situation is classified as the emergency braking situation and use the emergency braking profile only while the emergency braking situation persists;

and apply the deceleration based on the emergency braking profile.

8. The system of claim 6, wherein the safety distance associated with the emergency braking profile, d_emergency, is determined by

9. The system of claim 6, wherein the maximum emergency deceleration is less than the maximum physical deceleration of the vehicle and wherein the deceleration a_r is between the minimum emergency deceleration and the maximum emergency deceleration.

10. The system of claim 9, wherein the deceleration a_r is determined based on

19. The system of claim 6, wherein the emergency response time is a time that the vehicle requires to determine that a leading vehicle is braking with a deceleration higher than is allowed under the normal braking profile.

11. A vehicle, comprising:

a braking system;

one or more sensors configured to detect a braking situation;

one or more processors configured to

determine a classification of the braking situation based on information provided the one or more sensors;

select a braking profile based on the determined classification, the braking profile selected from one of a normal braking profile and an emergency braking profile; and

provide the selected braking profile to the braking system, wherein the braking system is configured to apply a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile,

wherein a safety distance associated with the normal braking profile is greater than a safety distance associated with the emergency braking profile,

wherein the classification includes a normal braking situation and an emergency braking situation, wherein the normal braking profile corresponding to the normal braking situation comprises a minimum normal deceleration and maximum normal deceleration, wherein the emergency braking profile corresponding to the emergency braking situation comprises a minimum emergency deceleration and a maximum emergency deceleration, wherein the vehicle has a maximum physical deceleration, and wherein the maximum physical deceleration is greater than or equal to the maximum emergency deceleration and the maximum emergency deceleration is greater than the maximum normal deceleration,

wherein the minimum emergency safety distance is determined based on the emergency response time, a velocity of the vehicle, a velocity of the leading vehicle, the minimum emergency deceleration, the maximum emergency deceleration, and the maximum physical deceleration of the vehicle.