Method and device for assisting a driver during reverse travel

• US 6,604,592 B2
• Filed: 07/02/1999
• Issued: 08/12/2003
• Est. Priority Date: 07/11/1998
• Status: Expired due to Term

• Current Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Original Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Inventors: Pietsch, Frank, Neuhaus, Detlev
• Primary Examiner(s): Johnson, Brian L.
• Assistant Examiner(s): AVERY, BRIDGET D
• Application Number:
  US09/346,814
• Publication Number:
  US 20020017412A1
• Time in Patent Office: 1,502 Days
• Field of Search: 180/167, 180/168, 180/169, 180/170
• US Class Current: 180/168
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• 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 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/18036 Reversing

Abstract

A method and device prevents damage to a vehicle approaching an obstacle, such as, for example, a loading ramp, while traveling in reverse. When a vehicle, particularly a vehicle train consisting of a towing vehicle and a trailer or semi-trailer, approaches an obstacle in reverse travel, there exists the possibility that the vehicle may impact the obstacle as a result of an erroneous estimation or inappropriate driving maneuver, potentially resulting in damage to the vehicle and/or to the obstacle. This problem occurs with relative frequency, particularly when approaching a loading ramp. In accordance with the invention, the driver of the vehicle is assisted during reverse travel such that damage due to excessive impact is automatically avoided, independently of the driver'"'"'s actions. A distance sensor is installed on the vehicle, near the tail, which transmits a signal representative of the distance from an obstacle to an electronic control device. The electronic control device evaluates the distance value measured by the distance sensor and adapts the speed of the vehicle during reverse travel in accordance with a predetermined algorithm in such manner that the approach to the obstacle takes place without damage to the vehicle and/or the obstacle. The control device advantageously influences the braking system of the vehicle and, if necessary, the drive engine, in a suitable manner.

Claims

1. A method for assisting a driver during reverse travel of a vehicle towards an obstacle, comprising:

upon activation of a reverse travel gear,

evaluating distance signals representative of the distance between a vehicle tail of the vehicle and the obstacle;

automatically influencing the speed of the vehicle as a function of the distance signals;

assigning velocity values to the distance signals, said step of automatically influencing including limiting the speed of the vehicle so that it does not exceed the assigned velocity values;

wherein the distance signals are classified into a plurality of zones with respect to their values; and

wherein each of said zones is matched to a different assigned velocity value,

wherein said zones comprise;

zone 1, wherein the distance signals are greater than 3 m and the assigned velocity value for zone 1 is V1;

zone 2, wherein the distance signals are between 1 m and 3 m and the assigned velocity value for zone 2 is V2;

zone 3, wherein the distance signals are less than 1 m and the assigned velocity value for zone 3 is V3; and

wherein V1 is greater than V2 which is greater than V3.

2. A method according to claim 1, wherein said step of automatically influencing includes automatically actuating a vehicle braking system of the vehicle.

3. A method according to claim 1, wherein said step of automatically influencing includes automatically controlling a drive engine of the vehicle.

4. A method according to claim 1, further comprising:

automatically bringing the vehicle to a full stop when the distance signals drop below a predetermined value but before the vehicle tail comes into contact with the obstacle.

5. A method according to claim 1, wherein time derivatives of the distance signals are taken into account to influence the speed of the vehicle.

6. A method according to claim 1, wherein the speed of the vehicle is determined from time derivatives of the distance signals.

7. A method according to claim 1, wherein said step of automatically influencing is carried out only on condition that a reverse travel gear of the vehicle is engaged.

8. A method according to claim 1, wherein there are separate sets of distance signals representative of the distance from the left and right sides of the vehicle tail to the obstacle respectively, and wherein the speed of the vehicle is automatically influenced as a function of the smaller set of distance signals.

9. A method according to claim 1, further comprising:

allowing the vehicle tail to contact the obstacle at sufficiently low speed to prevent damage to the vehicle.

10. A method according to claim 1, wherein the distance signals are based upon temperature dependent signals and the distance signals are compensated for changes in ambient temperature.

11. A method according to claim 1, wherein the speed of the vehicle is automatically decreased after passage of a predetermined time period when zone 2 is reached.

12. A method according to claim 1, wherein assigned velocity value V2 is varied as a function of the distance signals.

13. A method according to claim 12, wherein the function is exponential.

14. A method according to claim 12, wherein the function is hyperbolic.

15. A device for assisting the driver of a vehicle during reverse travel of a vehicle towards an obstacle, comprising:

a distance sensor which emits distance signals representative of the distance between a vehicle tail of the vehicle and the obstacle;

a control device which receives said distance signals from said distance sensor and emits actuation signals based upon the distance signals;

a mechanism for influencing the speed of the vehicle in response to the actuation signals received from the control device such that the speed of the vehicle is influenced automatically as a function of the distance signals;

wherein upon activation of a reverse travel gear said control device assigns velocity values to the distance signals, said mechanism for influencing the speed of the vehicle limiting the speed of the vehicle so that it does not exceed the velocity values; and

wherein said control device classifies the distance signals into a plurality of zones with respect to their values; and

wherein each of said zones is matched to a different assigned velocity value,

wherein said control device classifies;

distance signals greater than 3 m into zone 1, which is assigned the velocity value V1;

distance signals between 1 m and 3 m into zone 2, which is assigned velocity value V2;

distance signals less than 1 m into zone 3, which is assigned velocity value V3; and

wherein V1 is greater than V2 which is greater than V3.

16. A device according to claim 15, wherein said mechanism includes a vehicle braking system.

17. A device according to claim 15, wherein said mechanism includes a vehicle engine control.

18. A device according to claim 15, wherein the distance sensor is located in an area defining a tail portion of the vehicle.

19. A device according to claim 15, wherein:

the vehicle includes an electrically controlled braking system (EBS), and

the control device is part of the EBS.

20. A device according to claim 15, wherein the distance sensor includes an ultra-sound sensor.

21. A device according to claim 15, wherein:

reverse travel signals are transmitted by a vehicle transmission to the control device when a reverse travel gear of the vehicle is engaged; and

the actuation signals of the control device are transmitted to the mechanism for influencing the speed of the vehicle only on condition that the control device receives said reverse travel signals.

22. A device according to claim 15, wherein the distance signals are based upon temperature dependent signals, and the control device compensates the distance signals for changes in ambient temperature.

23. A device according to claim 15, comprising first and second distance sensors mounted on the left and right sides of the vehicle which emit separate sets of distance signals representative of the distance from the left side of the vehicle tail and the right side of the vehicle tail to the obstacle respectively, and wherein said control device utilizes the smaller set of distance signals for assigning the velocity values.

24. A device according to claim 15, wherein said mechanism automatically decreases the speed of the vehicle after passage of a predetermined time period after zone 2 is reached.

25. A device according to claim 15, wherein said control device varies velocity value V2 as a function of the distance signals.

26. A device according to claim 16, wherein said control device varies velocity value V2 as an exponential function of the distance signals.

27. A device according to claim 16, wherein said control device varies velocity value V2 as a hyperbolic function of the distance signals.

28. A device according to claim 18, further comprising:

a ram bumper located in the area defining the tail portion of the vehicle, the ram bumper including a recess formed therein, the distance sensor being located in the recess of the ram bumper.

29. A device according to claim 20, wherein the ultra-sound sensor is a sound field modulated ultra-sound sensor.

30. A device according to claim 28, wherein the recess presents a contour which causes sound emitted by the distance sensor to be concentrated.

31. A device according to claim 30, wherein the contour is parabolic.

32. A device according to claim 30, wherein the contour is elliptic.

33. A device for assisting the driver of a vehicle during reverse travel, comprising:

a distance sensor which emits a distance signal representative of a distance between the vehicle tail and an obstacle;

an evaluating device which emits evaluation signals based upon the distance signal received from the distance sensor; and

a mechanism for influencing a speed of the vehicle in response to the evaluation signals received from the evaluating device in such manner that the speed of the vehicle is influenced automatically as a function of the distance signal;

wherein when the distance between the vehicle and the obstacle is great, the speed of the vehicle is determined from a signal produced by a rotational speed sensor which monitors the rotational speed of a wheel of the vehicle; and

wherein when the vehicle is in the immediate proximity of the obstacle, the speed of the vehicle is determined from the rate of change of the distance signal with respect to time.

34. A device according to claim 33, wherein said mechanism includes a vehicle braking system.

35. A device according to claim 33, wherein said mechanism includes a vehicle engine control.

36. A device according to claim 33, wherein the distance sensor is located in an area defining a tail portion of the vehicle.

37. A device according to claim 33, further comprising a ram bumper located in an area defining the tail portion of the vehicle, the ram bumper including a recess formed therein, the distance sensor being located in the recess of the ram bumper.

38. A device according to claim 33, wherein the vehicle includes an electrically controlled braking system (EBS), and the evaluation device is part of the EBS.

39. A device according to claim 33, wherein the distance sensor includes an ultrasound sensor.

40. A device according to claim 33, wherein a reverse travel signal is transmitted by a vehicle transmission to the evaluation device when a reverse travel gear is selected, and the evaluation signals of the evaluation device are transmitted to the mechanism for influencing the speed of the vehicle only on condition that the reverse travel signal occurs.

41. A device according to claim 33, wherein the speed of the vehicle is determined from the signal produced by the rotational speed sensor when the distance between the vehicle and the obstacle is greater than about 3 m, and wherein the speed of the vehicle is determined from the rate of change of the distance signal with respect to time when the distance between the vehicle and the obstacle is about 3 m or less.