Vehicle driver assistance system and method

• US 8,195,373 B2
• Filed: 12/19/2008
• Issued: 06/05/2012
• Est. Priority Date: 01/04/2008
• Status: Active Grant

• Current Assignee: ZF CV Systems Europe BV
• Original Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Inventors: Breuer, Karsten, Dieckmann, Thomas, Hoffman, Guido
• Primary Examiner(s): Elchanti, Hussein
• Assistant Examiner(s): Khatib, Rami
• Application Number:
  US12/317,111
• Publication Number:
  US 20090177347A1
• Time in Patent Office: 1,264 Days
• Field of Search: 701/53, 701/58, 701/70, 701/93, 701/300, 701/301
• US Class Current: 701/96
• 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 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 50/0205 Diagnosing or detecting failures; Failure detection models

Abstract

A driver assistance system includes a sensor for sensing the speed of a first vehicle equipped with the system, a sensor for detecting a vehicle traveling ahead, a sensor for determining the speed of the vehicle ahead, at least one driving-data sensor for sensing driving data characteristics, and an electronic controller programmed to trigger autonomous braking of the first vehicle when predetermined brake-trigger driving data exist, and to end the autonomous braking when predetermined driving data for terminating braking exist. In effecting termination of autonomous braking, the electronic controller is programmed to determine whether the sensor for detecting vehicles ahead is transmitting signals (i.e., is operational) but is not detecting any vehicle traveling ahead, and, if the sensor is operational and no vehicle traveling ahead is detected, to terminate autonomous braking when the speed of the first vehicle is less than the most recently determined speed of the vehicle ahead.

Claims

1. A driver assistance system for a vehicle, comprising:

a first sensor configured to sense the speed of the vehicle;

a second sensor configured to sense a second vehicle traveling ahead of the vehicle;

a third sensor configured to determine the speed of the second vehicle; and

an electronic controller suitably programmed to;

(i) trigger autonomous braking of the vehicle based on preselected data for triggering braking;

(ii) determine the operational condition of the second sensor; and

(iii) terminate autonomous braking of the vehicle when;

(a) the second sensor is operational but is not sensing the second vehicle or any other vehicle ahead of the vehicle; and

(b) the speed of the vehicle is less than the most recently determined speed of the second vehicle; and

(iv) continue autonomous braking of the vehicle when the second sensor is nonoperational.

2. The driver assistance system according to claim 1, wherein the second sensor is configured to sense a distance between the vehicle and the second vehicle.

3. The driver assistance system according to claim 2, wherein the third sensor is configured to:

(i) receive the speed of the vehicle from the first sensor;

(ii) receive the distance from the second sensor; and

(iii) calculate the speed of the second vehicle from the speed data and the distance data.

4. The driver assistance system according to claim 1, wherein the controller is further suitably programmed to override the termination of autonomous braking of the vehicle until the vehicle is at a standstill when the second sensor is nonoperational.

5. The driver assistance system according to claim 1, wherein the third sensor is a Doppler radar sensor.

6. The driver assistance system according to claim 1, further comprising at least one driving-data sensor for sensing driving data characteristics of a driving condition of the vehicle.

7. The driver assistance system according to claim 6, wherein the at least one driving-data sensor is at least one of a yaw-rate sensor and a deceleration sensor.

8. The driver assistance system according to claim 1, wherein the second sensor is at least one of a multi-beam laser sensor and a radar sensor.

9. The driver assistance system according to claim 8, wherein the radar sensor is a Doppler radar sensor.

10. The driver assistance system according to claim 1, wherein the second sensor includes a video camera.

11. The driver assistance system according to claim 1, wherein the electronic controller is suitably programmed to continually execute, during autonomous braking of the vehicle:

(i) monitoring of the operational condition of the second sensor; and

(ii) termination of autonomous braking of the vehicle when the second sensor is operational but is not sensing the second vehicle or any other vehicle ahead of the vehicle, and the speed of the vehicle is less than the most recently determined speed of the second vehicle.

12. A vehicle, comprising a driver assistance system according to claim 1.

13. In a vehicle including a driver assistance system having a first sensor configured to sense the speed of the vehicle, a second sensor configured to sense a second vehicle traveling ahead of the vehicle, a third sensor configured to determine the speed of the second vehicle, and an electronic controller suitably programmed to trigger autonomous braking of the vehicle based on preselected data for triggering braking, a method for avoiding premature termination of autonomous braking, the method comprising the steps of:

(i) determining the operational condition of the second sensor;

(ii) terminating autonomous braking of the vehicle when;

(a) the second sensor is operational but is not sensing the second vehicle or any other vehicle ahead of the vehicle; and

(b) the speed of the vehicle is less than the most recently determined speed of the second vehicle; and

(iii) continuing autonomous braking of the vehicle when the second sensor is nonoperational.

14. The method according to claim 13, further comprising the step of overriding termination of autonomous braking of the vehicle until the vehicle is at a standstill when the second sensor is nonoperational.

15. The method according to claim 13, wherein the steps of:

(i) determining the operational condition of the second sensor and

(ii) terminating autonomous braking of the vehicle when

(a) the second sensor is operational but is not sensing the second vehicle or any other vehicle ahead of the vehicle; and

(b) the speed of the vehicle is less than the most recently determined speed of the second vehicle; and

(iii) continuing autonomous braking of the vehicle when the second sensor is nonoperational are effected continually during autonomous braking of the vehicle.