Method for determining an emergency braking situation of a vehicle

• US 9,566,959 B2
• Filed: 02/01/2013
• Issued: 02/14/2017
• Est. Priority Date: 02/14/2012
• Status: Active Grant

• Current Assignee: ZF CV Systems Europe BV
• Original Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Inventors: Breuer, Karsten, Sandkuhler, Dirk
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/376,727
• Publication Number:
  US 20150012204A1
• Time in Patent Office: 1,474 Days
• US Class Current: 1/1
• CPC Class Codes: B60K 2031/0033 Detecting longitudinal speed or acceleration of target vehicle
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar 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 10/18 including control of braking systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

To determine whether an emergency braking situation exists for a vehicle, the vehicle determines at least the following state variables: its own velocity, its own longitudinal acceleration, its relative distance from an object in front, and the speed and acceleration of the object in front. A suitable evaluation method to assess whether an emergency braking situation is present is determined as a function of these state variables from a plurality of evaluation method options, including at least a movement equation evaluation method in which a movement equation system of the vehicle and of the object in front is determined, and an evaluation method in which a braking distance of the vehicle is determined.

Claims

1. A method for determining an emergency braking situation of a vehicle, the method of comprising:

determining state variables including at least two of (i) a speed of a first vehicle, (ii) a longitudinal acceleration of the first vehicle, (iii) a relative distance between the first vehicle and an object ahead, (iv) a speed of the object ahead, and (v) an acceleration of the object ahead; and

using at least one control unit to;

automatically determine, as a function of at least one of the determined state variables, to use one of at least two different methods to assess whether an emergency braking situation exists for the first vehicle, the at least two different methods including (a) an equation of motion assessment method by which an equation of motion system of the first vehicle and of the object ahead is determined and (b) a braking distance assessment method by which a braking distance of the first vehicle is determined;

effect the one of the at least two different methods to assess whether an emergency braking situation exists for the first vehicle; and

at least one of effect an emergency braking process and output a warning signal when an emergency braking situation exists based on a result of the assessment.

2. The method as claimed in claim 1, wherein using the at least one control unit to determine to use the one of the at least two different methods includes using an admissibility criterion based on a comparison between (i) a first vehicle braking time required by the first vehicle to reach a minimum distance from the object ahead and reach the speed of the object ahead and (ii) an object braking time required by the object ahead to brake to rest.

3. The method as claimed in claim 2, wherein when the first vehicle braking time required by the first vehicle to reach a minimum distance from the object ahead and reach the speed of the object ahead is one of less than and equal to the object braking time required by the object ahead to brake to rest, using the at least one control unit to determine to use the one of the at least two different methods includes determining that the equation of motion assessment method is admissible and effecting the one of the at least two different methods includes using the equation of motion assessment method, and when the first vehicle braking time exceeds the object braking time, using the at least one control unit to determine to use the one of the at least two different methods includes determining that the braking distance assessment method is admissible and effecting the one of the at least two methods includes using the braking distance assessment method.

4. The method as claimed in claim 1, wherein using the at least one control unit to determine to use the one of the at least two different methods is effected based on a function of at least one of a response time of an internal brake system of the vehicle after initiation of automatic emergency braking and a driver response time after output of a warning indication signal via a warning display.

5. The method as claimed in claim 4, further comprising using the at least one control unit to effect an advance assessment method to assess whether an emergency braking situation exists for the first vehicle on the basis of whether a first criterion is fulfilled, the first criterion being whether the relative distance between the first vehicle and the object ahead following the at least one of the response time of the internal brake system of the vehicle and the driver response time is less than a minimum distance from the object ahead that is to be maintained, wherein when the first criterion is fulfilled, recognizing an emergency braking situation, and wherein using the at least one control unit to determine to use the one of the at least two different methods is effected when the first criterion is not fulfilled.

6. The method as claimed in claim 5, further comprising, when the first criterion is not fulfilled, using the at least one control unit to effect an assessment as to whether an emergency braking situation exists for the first vehicle on the basis of the acceleration of the object ahead and a relative speed of the object ahead with respect to the speed of the first vehicle following the at least one of the response time of the internal brake system of the vehicle and the driver response time, wherein the relative speed following the at least one of the response time of the internal brake system of the vehicle and the driver response time is the difference between the speed of the object ahead and the speed of the first vehicle.

7. The method as claimed in claim 5, further comprising, when the first criterion is not fulfilled using the at least one control unit to determine to use the one of the at least two different methods effected based on at least one of:

(i) a second criterion that is fulfilled when the acceleration of the object ahead is negative and a relative speed of the object ahead with respect to the speed of the first vehicle following the at least one of the response time of the internal brake system of the vehicle and the driver response time is negative, wherein when the second criterion is fulfilled, using the at least one control unit to check an admissibility criterion for the equation of motion assessment method, and when the admissibility criterion for the equation of motion assessment method is fulfilled, using the at least one control unit to effect the equation of motion assessment method, and when the admissibility criterion for the equation of motion assessment method is fulfilled, using the at least one control unit to effect the braking distance assessment method;

(ii) a third criterion that is fulfilled when the acceleration of the object ahead is negative and the relative speed of the object ahead following the at least one of the response time of the internal brake system of the vehicle and the driver response time is one of greater than and equal to zero, wherein when the this criterion is fulfilled, using the at least one control unit to effect the braking distance assessment method;

(iii) a fourth criterion that is fulfilled when the acceleration of the object ahead is one of greater than and equal to zero and the relative speed of the object ahead following the at least one of the response time of the internal brake system of the vehicle and the driver response time is negative, wherein when the fourth criterion is fulfilled, using the at least one control unit to effect the equation of motion assessment method; and

(iv) a fifth criterion that is fulfilled when the acceleration of the object ahead is one of greater than and equal to zero and the relative speed of the object ahead following the at least one of the response time of the internal brake system of the vehicle and the driver response time is one of greater than and equal to zero, wherein when the fifth criterion is fulfilled, not effecting a determination of an emergency braking situation.

8. The method as claimed in claim 1, further comprising determining a target acceleration for each of the at least two different methods for assessing whether an emergency braking situation exists.

9. The method as claimed in claim 1, wherein the equation of motion assessment method includes:

establishing second order equations of motion in a time domain of the first vehicle and of the object ahead, the second order equations including the relative distance between the first vehicle and the object ahead, the acceleration of the first vehicle and of the object ahead, and the speeds of the first vehicle and of the object ahead; and

determining whether the distance between the first vehicle and the object ahead is less than a minimum distance.

10. The method as claimed in claim 9, wherein the equation of motion assessment method includes determining a first target acceleration according to the

11. The method as claimed in claim 1, wherein the braking distance assessment method includes determining a second target acceleration by calculating the braking distance of the first vehicle that remains on initiating braking following the at least one of the response time of the internal brake system of the vehicle and the driver response time based on the speed of the first vehicle, the speed of the object ahead and the acceleration of the object ahead, the relative distance, and a minimum distance from the object ahead.

12. The method as claimed in claim 11, wherein determining the second target acceleration is based on the relationship

13. A control device for a driving dynamics control system of a vehicle, the control device configured to determine state variables including at least two of (i) a speed of the vehicle, (ii) a longitudinal acceleration of the vehicle, (iii) a relative distance between the vehicle and an object ahead, (iv) a speed of the object ahead, and (v) an acceleration of the object ahead;

determine, as a function of at least one of the determined state variables, to use one of at least two different methods to assess whether an emergency braking situation exists for the vehicle;

the at least two different methods including (a) an equation of motion assessment method by which an equation of motion system of the first vehicle and of the object ahead is determined and (b) braking distance assessment method by which a braking distance of the first vehicle is determined; and

at least one of effect an emergency braking process and output a warning signal when an emergency braking situation exists based on a result of the assessment.

14. A driving dynamics control system comprising a control device, a distance sensor, a speed sensor, and a vehicle brakes, the control device being configured to:

determine state variables including at least two of (i) a speed of the vehicle, (ii) a longitudinal acceleration of the vehicle, (iii) a relative distance between the vehicle and an object ahead, (iv) a speed of the object ahead; and

(v) an acceleration of the object ahead; and

determine, as a function of at least one of the determined state variables, to use one of at least two different methods to assess whether an emergency braking situation exists for the vehicle, the at least two different methods including (a) an equation of motion assessment method by which an equation of motion system of the first vehicle and of the object ahead is determined and (b) a braking distance assessment method by which a braking distance of the first vehicle is determined; and

at least one of effect an emergency braking process and output a warning signal when an emergency braking situation exists based on a result of the assessment.