Autonomous emergency braking system

• US 6,523,912 B1
• Filed: 11/08/2001
• Issued: 02/25/2003
• Est. Priority Date: 11/08/2001
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Ekmark, Jonas, Engelman, Gerald H, Jansson, Jonas L. Z., Tellis, Levasseur, Tarabishy, M. Nabeel, Bond, John Vincent III
• Primary Examiner(s): Lavinder, Jack
• Assistant Examiner(s): BARTZ, CLIFFORD T
• Application Number:
  US09/683,012
• Time in Patent Office: 474 Days
• Field of Search: 303/9, 701/96, 701/300, 701/301, 701/78, 701/79, 701/80, 701/81, 701/70, 340/438, 340/441, 340/425.5, 340/436, 180/171
• US Class Current: 303/9
• CPC Class Codes: B60R 2021/01259 Brakes
• CPC Class Codes: B60R 2021/01311 monitoring the braking system, e.g. ABS
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/01516 using force or pressure sensing means
• CPC Class Codes: B60R 21/01544 detecting seat belt parameters, e.g. length, tension or height-adjustment
• 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

Abstract

An autonomous emergency braking system includes an accelerator pedal operated by the driver coupled to a braking system and used to control the overall vehicle speed. When a forward detection apparatus detects an imminent contact, the braking system automatically applies braking force to the vehicle while the vehicle engine speed is reduced. The amount of brake force applied is a continuous function of relative speed, relative distance, collision probability and target classification. The braking force may be reduced when the driver or passenger are unbuckled or may be disabled if the driver applies full throttle.

Claims

1. An autonomous emergency braking apparatus located in a first vehicle having an engine, said apparatus comprising:

an accelerator pedal located in the first vehicle and operative to control engine speed and coupled to an accelerator position sensor, said accelerator position sensor being operative to generate an accelerator position signal;

a braking system located in the first vehicle and coupled to a variable brake booster, said variable brake booster being operative to produce a variable brake booster force;

a forward detection apparatus located in the first vehicle and having control logic operative to detect vehicle distance between the first vehicle and a second vehicle, vehicle speed, and imminent contact between the first vehicle and said second vehicle and generate an imminent contact signal, a vehicle distance signal, and a vehicle speed signal;

an occupant seatbelt switch located in the first vehicle and being operative to generate an occupant unbuckled signal when an occupant is not wearing a seatbelt; and

a controller located in the first vehicle and coupled to said variable brake booster and being operative to receive said accelerator position signal, said imminent contact signal, said vehicle distance signal, said vehicle speed signal, and said occupant unbuckled signal, said controller including control logic operative to automatically apply a predetermined amount of variable brake booster force proportional to said vehicle distance signal and said vehicle speed signals in response to said imminent contact signal, automatically apply a reduced amount of variable brake booster force in response to said occupant unbuckled signal, and reduce said engine speed in response to said imminent contact signal.

2. The autonomous emergency braking apparatus as recited in claim 1, wherein said forward detection apparatus includes a forward contact warning apparatus, said forward contact warning apparatus operative to notify a driver of said imminent contact.

3. The autonomous emergency braking apparatus as recited in claim 1, wherein said controller contains control logic operative to disable said automatic variable brake booster force when said accelerator pedal is in a fully depressed position.

4. The autonomous emergency braking apparatus as recited in claim 1, wherein said occupant is a driver.

5. The autonomous emergency braking apparatus as recited in claim 1, further comprising a passenger present switch operative to generate a passenger present signal when a passenger is present in a passenger seat, said passenger present switch being coupled to said controller.

6. The autonomous emergency braking apparatus as recited in claim 5, further comprising a passenger seatbelt switch operative to generate a passenger unbuckled signal when a passenger seatbelt is unbuckled, said passenger seatbelt switch being coupled to said controller.

7. The autonomous emergency braking apparatus as recited in claim 6, wherein said controller includes control logic operative to reduce said automatic braking force when said passenger is present and said passenger seatbelt is unbuckled.

8. An autonomous emergency braking system for a first vehicle having an engine comprising:

an accelerator pedal located in the first vehicle and operative to control engine speed, said accelerator pedal coupled to an accelerator position sensor being operative to generate an accelerator position signal;

a braking system located in the first vehicle and coupled to a variable brake booster, said variable brake booster being operative to produce a variable brake booster force;

a forward detection apparatus located in the first vehicle and having control logic operative to detect vehicle distance between the first vehicle and a second vehicle, vehicle speed, and imminent contact between the first vehicle and said second vehicle and generate an imminent contact signal, a vehicle distance signal, and a vehicle speed signal, said forward detection apparatus operative to notify a driver of said imminent contact;

an occupant seatbelt switch located in said first vehicle and being operative to generate an occupant unbuckled signal when an occupant is not wearing a seatbelt; and

a controller located in said first vehicle and coupled to said variable brake booster, said controller being operative to receive said accelerator position signal, said imminent contact signal, said vehicle distance signal, said vehicle speed signal, and said occupant unbuckled signal, said controller including control logic operative to automatically apply a predetermined amount of variable brake booster force proportional to said vehicle distance signal and said vehicle speed signals in response to said imminent contact signal, automatically apply a reduced amount of variable brake booster force in response to said occupant unbuckled signal, and reduce said engine speed in response to said imminent contact signal.

9. The autonomous emergency braking system as recited in claim 8, wherein said controller contains control logic operative to disable said automatic variable brake booster force when said accelerator pedal is in a fully depressed position.

10. The autonomous emergency braking system as recited in claim 8, wherein said occupant is a driver.

11. The autonomous emergency braking system as recited in claim 8, further comprising a passenger present switch operative to generate a passenger present signal when a passenger is present in a passenger seat, said passenger present switch being coupled to said controller.

12. The autonomous emergency braking system as recited in claim 11 , further comprising a passenger seatbelt switch operative to generate a passenger unbuckled signal when a passenger seatbelt is unbuckled, said passenger seatbelt switch being coupled to said controller.

13. The autonomous emergency braking system as recited in claim 12, wherein said controller includes control logic operative to reduce said automatic braking force when said passenger is present and said passenger seatbelt is unbuckled.

14. A method for providing autonomous emergency braking for a first vehicle having an engine and a braking system comprising the steps of:

monitoring a position of an accelerator pedal;

detecting an imminent contact between the first vehicle and a second vehicle;

determining distance and relative speed between the first vehicle and said second vehicle;

detecting when an occupant is not wearing a seatbelt;

reducing engine speed in response to detecting an imminent contact between the first vehicle and a second vehicle;

applying a predetermined amount of variable brake booster force proportional to said distance and relative speed to said second vehicle; and

applying a reduced amount of variable brake booster force when said occupant is not wearing said seatbelt.

15. A method for providing autonomous emergency braking as recited in claim 14 further comprising the step of disabling said automatic predetermined amount of variable brake booster force when said accelerator pedal is in a fully depressed position.

16. A method for providing autonomous emergency braking as recited in claim 14 further comprising the step of reducing said variable brake booster force when a driver seatbelt is unbuckled.

17. A method for providing autonomous emergency braking as recited in claim 14 further comprising the step of reducing said automatic braking force when a passenger is present and a passenger seatbelt is unbuckled.