WO2006061276A1 - Method and device for vehicle deceleration after a collision - Google Patents
Method and device for vehicle deceleration after a collision Download PDFInfo
- Publication number
- WO2006061276A1 WO2006061276A1 PCT/EP2005/055225 EP2005055225W WO2006061276A1 WO 2006061276 A1 WO2006061276 A1 WO 2006061276A1 EP 2005055225 W EP2005055225 W EP 2005055225W WO 2006061276 A1 WO2006061276 A1 WO 2006061276A1
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- WO
- WIPO (PCT)
- Prior art keywords
- driver
- collision
- vehicle
- braking
- intervention
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01313—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring the vehicle steering system or the dynamic control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/024—Collision mitigation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
Definitions
- the invention relates to a method and a device for vehicle deceleration after a collision.
- Controllability of the vehicle Also known are systems such as the hydraulic brake assist, which detect an emergency situation from the operation of the vehicle (e.g., brake and accelerator pedal operation) and assist the driver-initiated braking to maximize the maximum delay possible. If there is an accident, the occupants are restrained by restraint systems such as belts or
- Systems for automatic emergency braking use information obtained with the help of environment sensors to predict a possible accident and to trigger emergency braking if unavoidable.
- the invention relates to a method for controlling the brake system of a motor vehicle, in which the presence of a collision of the motor vehicle is detected and in which a driver-independent braking intervention is performed in a present collision.
- the essence of the invention is characterized in that, depending on at least one withdrawal condition, the intensity of the
- the driver Due to the remaining residual speed, the driver is given the opportunity to quickly remove the vehicle from the accident area in order to avoid consequential accidents. Under the intensity of the braking intervention, e.g. the built-up brake pressure at the wheels or the built-up braking torque to be understood.
- An advantageous embodiment of the invention is characterized in that it is determined whether the vehicle is not manageable after the collision by the driver and that a driver-independent braking intervention is performed when the vehicle is determined as not controllable by the driver after the collision.
- An advantageous embodiment of the invention is characterized in that the presence of a collision is determined on the basis of output signals of retaining means associated sensors.
- An advantageous embodiment of the invention is that the presence of a collision is detected on the basis of the output signals of acceleration sensors.
- An advantageous embodiment of the invention is that the presence of a collision is detected on the basis of the output signals of airbag sensors.
- the sensors mentioned are available as standard in modern equipped vehicles.
- An advantageous embodiment of the invention is characterized in that - the speed of the vehicle is determined after the collision and that a driver-independent braking intervention is performed when the speed exceeds a predetermined upper threshold.
- An advantageous embodiment of the invention is characterized in that, depending on the at least one return condition, the braking intervention is terminated.
- An advantageous embodiment of the invention is characterized in that the braking intervention is terminated when the speed of the vehicle falls below the predetermined lower threshold.
- An advantageous embodiment of the invention is characterized in that there is a full braking as braking.
- An advantageous embodiment of the invention is characterized in that in addition to the detection of the collision, the output signals from sensors of a
- Vehicle dynamics control system These output signals can also enter into the classification of the collision alternatively or additionally.
- the additional sensors allow for improved detection and classification of the present collision. - A -
- An advantageous embodiment of the invention is characterized in that the output signals from sensors of a vehicle dynamics control system and / or sensors of an airbag system are included in the determination as to whether the vehicle can not be controlled by the driver after the collision.
- An advantageous embodiment of the invention is characterized in that the output signals of at least one sensor of a vehicle dynamics control system are evaluated and - these output signals in the selection of the braked wheels and / or the
- Driver request is detected after a withdrawal of the braking intensity on the basis of a force exerted by the driver operating the accelerator pedal and / or the brake pedal.
- the amount of operation may be e.g. to act on the actuation speed of the pedal or the covered actuation path of the pedal or its operating angle.
- the invention comprises a device for controlling the brake system of a motor vehicle, comprising
- Collision detection means for detecting the presence of a collision of the motor vehicle
- Brake control means for performing a driver-independent braking intervention in a present collision.
- the core of the device according to the invention consists in that braking intensity reduction means are furthermore provided by which the intensity of the braking intervention is withdrawn, by means of which the intensity of the braking intervention is withdrawn as a function of at least one return condition. It is also possible, instead of or in addition to the brake system, to control the engine management and / or the gearbox independently of the driver.
- an advantageous embodiment of the invention is characterized in that in addition to the driver-independent braking intervention, a driver-independent engagement in the
- FIG. 1 shows the structure of an embodiment of the method according to the invention embedded in the system according to the invention.
- FIG. 2 shows a further embodiment of the method according to the invention.
- Speed increases the likelihood that the driver can stabilize the vehicle and a subsequent accident may be avoided.
- the data of the sensors of the airbag control unit (for example, central acceleration sensors, externalized acceleration sensors on the front of the vehicle and the sides of the vehicle, pressure sensors in the doors, etc.) are continuously evaluated so that a collision can be detected at any time.
- a classification of the accident in terms of severity and possibly impact location and angle of the collision object can be performed on your own vehicle.
- An automatic braking is triggered and executed by means of an active or driver-independent braking system when an accident is detected in which
- the deceleration of the vehicle can be done for example in the form of full braking. But it can also be a braking with variable delay, so that is greatly delayed, for example, at high speed to quickly reduce kinetic energy. If the vehicle moves slowly after a certain time, can the braking can be withdrawn since the driver's startle reaction stops and the vehicle is easier to control by the driver at low speeds. This variant would then allow the driver to take control of the vehicle and, for example, allow the vehicle to drive away from places at high risk of another accident. These places of high risk are, for example, intersections, railroad crossings, or lanes on the highway.
- Fig. 1 shows the structure of the present invention.
- the brake actuators are activated in block 102.
- the hydraulics underlying an ESP system or EHB system or an electronically controllable brake booster can be used.
- the blocks 150, 151 and 152 may be supplied with additional input signals originating from an optional ESP sensor 101.
- An ESP sensor typically includes wheel speed sensors, a yaw rate sensor, a lateral acceleration sensor and a steering angle sensor.
- FIG. 2 shows a further embodiment of the method according to the invention.
- a query is made in block 201 as to whether a collision has occurred.
- it can additionally be queried whether the vehicle speed exceeds an upper limit value and whether the vehicle in the current state can no longer be controlled by the driver. If the answer is "No” (always labeled “n” in FIG. 2) then returns to block 200. On the other hand, if the answer is "yes” (always marked “y” in FIG. 2), then in block 202 a driver-independent braking intervention is performed.
- a query is made in block 203 as to whether the speed of the vehicle falls below a predefined lower threshold value or whether the return condition for canceling the intensity of the braking intervention is fulfilled If the answer is "No", then it branches back to the input of block 203. If the answer is, yes ", then in block 204 the intensity of the braking intervention is reduced or the braking intervention is even completely canceled. In block 205, the process ends.
- the possibility of an additional withdrawal of the intensity of the braking intervention by the driver may be provided, for example when detecting an accelerator operation by the driver. This is advantageous, for example, when the driver has the vehicle under control again after the collision, even though the current vehicle speed is still greater than the lower threshold value.
- the automatically triggered in the case of a detected collision deceleration of the vehicle is also withdrawn by a suitable control of engine management or transmission before the vehicle comes to a halt. This also allows the driver to get the vehicle out of the danger zone.
- the driver indicates that the automatic deceleration is to be terminated. This can e.g. be detected on the basis of the operation of accelerator pedal and / or brake pedal.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Verfahren und Vorrichtung zur Fahrzeugverzögerung nach einer KollisionMethod and device for vehicle deceleration after a collision
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Fahrzeugverzögerung nach einer Kollision.The invention relates to a method and a device for vehicle deceleration after a collision.
Systeme wie zum Beispiel das Fahrdynamikregelungssystem ESP oder aktive Lenksysteme zur Vermeidung von Unfällen durch Unterstützung des Fahrers in kritischen Fahrsituationen sind bekannt. Solche Systeme gleichen im Rahmen der physikalischen Möglichkeiten durch aktive Lenk- und Bremseingriffe die Fahrzeugbewegung dem vom Fahrer durch den Lenkradwinkel vorgegebenen Richtungswunsch an und erhöhen so dieSystems such as the vehicle dynamics control system ESP or active steering systems to prevent accidents by assisting the driver in critical driving situations are known. Such systems are similar in the physical possibilities by active steering and braking interventions, the vehicle movement to the direction specified by the driver by the steering wheel angle direction and thus increase the
Beherrschbarkeit des Fahrzeugs. Ebenfalls bekannt sind Systeme wie der hydraulische Bremsassistent, die anhand der Bedienung des Fahrzeugs (z.B. Betätigung von Brems- und Fahrpedal) eine Notsituation erkennen und die vom Fahrer eingeleitete Bremsung so unterstützen, dass möglichst schnell eine maximale Verzögerung erzielt wird. Kommt es dennoch zu einem Unfall, werden die Insassen durch Rückhaltesysteme wie Gurte oderControllability of the vehicle. Also known are systems such as the hydraulic brake assist, which detect an emergency situation from the operation of the vehicle (e.g., brake and accelerator pedal operation) and assist the driver-initiated braking to maximize the maximum delay possible. If there is an accident, the occupants are restrained by restraint systems such as belts or
Airbags geschützt. Systeme zur automatischen Notbremsung nutzen mit Hilfe von Umfeldsensorik gewonnene Informationen dazu, einen möglichen Unfall vorherzusehen und bei Unvermeidbarkeit eine Vollbremsung auszulösen.Airbags protected. Systems for automatic emergency braking use information obtained with the help of environment sensors to predict a possible accident and to trigger emergency braking if unavoidable.
Aus der DE 197 53 971 Al sind ein Verfahren und eine Vorrichtung zur Steuerung derDE 197 53 971 A1 discloses a method and a device for controlling the
Bremsanlage eines Fahrzeugs bekannt. Dabei wird in einer erkannten Kollisionssituation Bremskraft über die Vorgabe des Fahrers hinaus, vorzugsweise bis auf einen maximalen Wert, aufgebaut. Die Merkmale der Oberbegriffe der unabhängigen Ansprüche sind der DE 197 53 971 Al entnommen.Brake system of a vehicle known. In this case, in a detected collision situation, braking force is built up beyond the driver's specification, preferably down to a maximum value. The features of the preambles of the independent claims are taken from DE 197 53 971 Al.
Vorteile der ErfindungAdvantages of the invention
Die Erfindung betrifft ein Verfahren zur Steuerung der Bremsanlage eines Kraftfahrzeugs, bei dem das Vorliegen einer Kollision des Kraftfahrzeugs detektiert wird und bei dem bei einer vorliegenden Kollision ein fahrerunabhängiger Bremseingriff durchgeführt wird.The invention relates to a method for controlling the brake system of a motor vehicle, in which the presence of a collision of the motor vehicle is detected and in which a driver-independent braking intervention is performed in a present collision.
Der Kern der Erfindung ist dadurch gekennzeichnet, dass abhängig von wenigstens einer Rücknahmebedingung die Intensität desThe essence of the invention is characterized in that, depending on at least one withdrawal condition, the intensity of the
Bremseingriffs zurückgenommen wird.Brake intervention is withdrawn.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass dieAn advantageous embodiment of the invention is characterized in that the
Intensität des Bremseingriffs zurückgenommen wird,Intensity of the braking intervention is withdrawn,
- wenn die Geschwindigkeit des Fahrzeugs einen vorgegebenen unteren Schwellenwert unterschreitet und/oder- if the speed of the vehicle falls below a predetermined lower threshold and / or
- wenn anhand des Fahrerverhaltens erkannt wird, dass der Fahrer eine Rücknahme der Intensität des Bremseingriffs wünscht.- If it is detected by the driver behavior that the driver desires a reduction in the intensity of the braking intervention.
Durch die verbliebene Restgeschwindigkeit wird dem Fahrer die Möglichkeit gegeben, das Fahrzeug rasch aus dem Unfallbereich zu entfernen, um Folgeunfälle zu vermeiden. Unter der Intensität des Bremseingriffs kann z.B. der aufgebaute Bremsdruck an den Rädern oder das aufgebaute Bremsmoment verstanden werden.Due to the remaining residual speed, the driver is given the opportunity to quickly remove the vehicle from the accident area in order to avoid consequential accidents. Under the intensity of the braking intervention, e.g. the built-up brake pressure at the wheels or the built-up braking torque to be understood.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass ermittelt wird, ob das Fahrzeug nach der Kollision durch den Fahrer nicht beherrschbar ist und dass ein fahrerunabhängiger Bremseingriff durchgeführt wird, wenn das Fahrzeug nach der Kollision als durch den Fahrer nicht beherrschbar ermittelt wird.An advantageous embodiment of the invention is characterized in that it is determined whether the vehicle is not manageable after the collision by the driver and that a driver-independent braking intervention is performed when the vehicle is determined as not controllable by the driver after the collision.
Damit wird dem Fahrer nicht die Möglichkeit genommen, bei erkannter vorliegender Beherrschbarkeit des Fahrzeugs dieses selbst weiter zu steuern. Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass das Vorliegen einer Kollision anhand von Ausgangssignalen von Rückhaltemitteln zugeordneten Sensoren ermittelt wird.This does not deprive the driver of the possibility of continuing to control himself if the present controllability of the vehicle is recognized. An advantageous embodiment of the invention is characterized in that the presence of a collision is determined on the basis of output signals of retaining means associated sensors.
Eine vorteilhafte Ausgestaltung der Erfindung ist dass das Vorliegen einer Kollision anhand der Ausgangssignale von Beschleunigungssensoren detektiert wird.An advantageous embodiment of the invention is that the presence of a collision is detected on the basis of the output signals of acceleration sensors.
Eine vorteilhafte Ausgestaltung der Erfindung ist dass das Vorliegen einer Kollision anhand der Ausgangssignale von Airbagsensoren detektiert wird.An advantageous embodiment of the invention is that the presence of a collision is detected on the basis of the output signals of airbag sensors.
Die genannten Sensoren sind in modern ausgestatteten Fahrzeugen serienmäßig verfügbar.The sensors mentioned are available as standard in modern equipped vehicles.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, - dass die Geschwindigkeit des Fahrzeugs nach der Kollision ermittelt wird und dass ein fahrerunabhängiger Bremseingriff durchgeführt wird, wenn die Geschwindigkeit einen vorgegebenen oberen Schwellenwert überschreitet.An advantageous embodiment of the invention is characterized in that - the speed of the vehicle is determined after the collision and that a driver-independent braking intervention is performed when the speed exceeds a predetermined upper threshold.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass abhängig von der wenigstens einen Rücknahmebedingung der Bremseingriff beendet wird.An advantageous embodiment of the invention is characterized in that, depending on the at least one return condition, the braking intervention is terminated.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass der Bremseingriff beendet wird, wenn die Geschwindigkeit des Fahrzeugs den vorgegebenen unteren Schwellenwert unterschreitet.An advantageous embodiment of the invention is characterized in that the braking intervention is terminated when the speed of the vehicle falls below the predetermined lower threshold.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass als Bremsung eine Vollbremsung erfolgt.An advantageous embodiment of the invention is characterized in that there is a full braking as braking.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass in die Detektion der Kollision zusätzlich die Ausgangssignale von Sensoren einesAn advantageous embodiment of the invention is characterized in that in addition to the detection of the collision, the output signals from sensors of a
Fahrdynamikregelungssystems eingehen. Diese Ausgangssignale können auch alternativ oder zusätzlich in die Klassifikation der Kollision eingehen. Durch die zusätzlichen Sensoren ist eine verbesserte Erkennung und Klassifikation der vorliegenden Kollision möglich. - A -Vehicle dynamics control system. These output signals can also enter into the classification of the collision alternatively or additionally. The additional sensors allow for improved detection and classification of the present collision. - A -
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass in die Ermittlung, ob das Fahrzeug nach der Kollision durch den Fahrer nicht beherrschbar ist, die Ausgangssignale von Sensoren eines Fahrdynamikregelungssystems und/oder von Sensoren eines Airbagsystems eingehen.An advantageous embodiment of the invention is characterized in that the output signals from sensors of a vehicle dynamics control system and / or sensors of an airbag system are included in the determination as to whether the vehicle can not be controlled by the driver after the collision.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Ausgangssignale wenigstens eines Sensors eines Fahrdynamikregelungssystems ausgewertet werden und - diese Ausgangssignale in die Auswahl der gebremsten Räder und/oder dieAn advantageous embodiment of the invention is characterized in that the output signals of at least one sensor of a vehicle dynamics control system are evaluated and - these output signals in the selection of the braked wheels and / or the
Bremsintensität des fahrerunabhängigen Bremseingriffs eingehen.Braking intensity of the driver-independent braking intervention go.
Es ist auch möglich, die unterschiedlichen Räder mit unterschiedlichen Intensitäten zu bremsen.It is also possible to brake the different wheels with different intensities.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass einAn advantageous embodiment of the invention is characterized in that a
Fahrerwunsch nach einer Rücknahme der Bremsintensität anhand einer vom Fahrer ausgeübten Betätigungsgröße des Fahrpedals und/oder des Bremspedals erkannt wird. Bei der Betätigungsgröße kann es sich z.B. um die Betätigungsgeschwindigkeit des Pedals oder den zurückgelegten Betätigungsweg des Pedals bzw. dessen Betätigungswinkel handeln.Driver request is detected after a withdrawal of the braking intensity on the basis of a force exerted by the driver operating the accelerator pedal and / or the brake pedal. The amount of operation may be e.g. to act on the actuation speed of the pedal or the covered actuation path of the pedal or its operating angle.
Weiter umfasst die Erfindung eine Vorrichtung zur Steuerung der Bremsanlage eines Kraftfahrzeugs, enthaltendFurthermore, the invention comprises a device for controlling the brake system of a motor vehicle, comprising
Kollisionsdetektionsmittel zur Detektion des Vorliegens einer Kollision des Kraftfahrzeugs sowieCollision detection means for detecting the presence of a collision of the motor vehicle and
Bremssteuerungsmittel zur Durchführung eines fahrerunabhängigen Bremseingriffs bei einer vorliegenden Kollision. Der Kern der erfindungsgemäßen Vorrichtung besteht darin, dass weiterhin Bremsintensitätsreduktionsmittel vorhanden sind, durch welche die Intensität des Bremseingriffs zurückgenommen wird, durch welche abhängig von wenigstens einer Rücknahmebedingung die Intensität des Bremseingriffs zurückgenommen wird. Es ist auch möglich, anstelle oder zusätzlich zur Bremsanlage das Motormanagement und/oder das Getriebe fahrerunabhängig anzusteuern.Brake control means for performing a driver-independent braking intervention in a present collision. The core of the device according to the invention consists in that braking intensity reduction means are furthermore provided by which the intensity of the braking intervention is withdrawn, by means of which the intensity of the braking intervention is withdrawn as a function of at least one return condition. It is also possible, instead of or in addition to the brake system, to control the engine management and / or the gearbox independently of the driver.
Deshalb ist eine vorteilhafte Ausgestaltung der Erfindung dadurch gekennzeichnet, dass ergänzend zum fahrerunabhängigen Bremseingriff ein fahrerunabhängiger Eingriff in dasTherefore, an advantageous embodiment of the invention is characterized in that in addition to the driver-independent braking intervention, a driver-independent engagement in the
Motormanagement und/oder das Getriebe stattfindet.Engine management and / or the transmission takes place.
Die vorteilhaften Ausgestaltungen des erfindungsgemäßen Verfahrens äußern sich selbstverständlich auch als vorteilhafte Ausgestaltungen der erfindungsgemäßen Vorrichtung und umgekehrt.The advantageous embodiments of the method according to the invention are of course also expressed as advantageous embodiments of the device according to the invention and vice versa.
Zeichnungdrawing
Die Zeichnung besteht aus den Figuren 1 und 2.The drawing consists of Figures 1 and 2.
Figur 1 zeigt den Aufbau einer Ausführungsform des erfindungsgemäßen Verfahrens eingebettet in das erfindungsgemäße System.FIG. 1 shows the structure of an embodiment of the method according to the invention embedded in the system according to the invention.
Figur 2 zeigt eine weitere Ausführungsform des erfindungsgemäßen Verfahrens.FIG. 2 shows a further embodiment of the method according to the invention.
Ausführungsbeispieleembodiments
Heutige Systeme zur Fahrdynamikregelung nutzen die Möglichkeit des aktiven (d.h. fahrerunabhängigen) Bremsdruckaufbaus zur Stabilisierung der Gierbewegung imToday's vehicle dynamics control systems utilize the possibility of active (i.e., driver independent) brake pressure build-up to stabilize the yaw motion in the vehicle
Fahrbetrieb. Rückhaltesysteme detektieren einen Unfall, um geeignete Rückhaltemittel auszulösen. Bei einem Unfall, bei dem z.B. der Fahrerairbag ausgelöst wird, das Fahrzeug aber nicht zum Stillstand kommt, besteht die Gefahr eines Folgeunfalls, bei dem das Fahrzeug z.B. mit anderen Fahrzeugen oder mit der Randbebauung kollidieren kann. Der Fahrer kann aufgrund seines Schreckverhaltens in einer solchen Situation möglicherweise das Fahrzeug nicht selbst durch Betätigung des Bremspedals verzögern. Es ist auch möglich, dass der Fahrer die Bremsung aufgrund der Unfallfolgen nicht selbst durchführen kann und dass auch eine Aktivierung des Bremsassistenten für ihn nicht durchführbar ist. In der vorliegenden Erfindung ist deshalb die automatische Auslösung einer Bremsung bei einem solchen Unfall vorgesehen. Durch eine solche nach Erkennung eines Unfalls automatisch ausgelöste Bremsung wird das Fahrzeug verlangsamt und somit die Schwere eines möglichen Folgeunfalls verringert. Wird das Fahrzeug durch den initialen Aufprall in eine Schleuderbewegung versetzt, dann wird durch die Verringerung derDriving. Restraint systems detect an accident to trigger appropriate restraint devices. In an accident in which, for example, the driver's airbag is triggered, but the vehicle does not come to a standstill, there is a risk of a subsequent accident in which the vehicle may collide with other vehicles or with the edge development, for example. The driver may not be able to decelerate the vehicle himself by depressing the brake pedal due to his frightening behavior in such a situation. It is also possible that the driver can not carry out the braking himself due to the consequences of the accident and that an activation of the brake assistant is not feasible for him. In the present invention, therefore, the automatic release of braking in such an accident is provided. Such braking, which is automatically triggered after detection of an accident, slows down the vehicle and thus reduces the severity of a possible consequential accident. If the vehicle is caused by the initial impact in a centrifugal movement, then by reducing the
Geschwindigkeit gleichzeitig die Wahrscheinlichkeit erhöht, dass der Fahrer das Fahrzeug stabilisieren kann und ein Folgeunfall möglicherweise zu vermeiden ist.Speed increases the likelihood that the driver can stabilize the vehicle and a subsequent accident may be avoided.
Zur Ausübung der Erfindung ist keine aufwändige Sensorik zur Erfassung des Fahrzeugumfelds notwendig. Die im Fahrzeug ohnehin verfügbare Sensorik derTo practice the invention, no complex sensors for detecting the vehicle environment is necessary. The sensors already available in the vehicle anyway
Rückhaltesysteme wird zusätzlich zur Auslösung einer automatischen Bremsung herangezogen. Die zur Umsetzung der Bremsung erforderliche Aktorik wie z.B. ESP- oder EHB-Hydraulik (ESP = „Electronic Stability Program", EHB = elektrohydraulische Bremse) oder aber ein elektronisch ansteuerbarer Bremskraftverstärker sind in modernen Fahrzeugen ebenfalls verfügbar, so dass der Nutzen der Erfindung ohne zusätzlicheRestraint systems are also used to trigger automatic braking. The required to implement the braking actuators such. ESP or EHB hydraulics (ESP = "Electronic Stability Program", EHB = electro-hydraulic brake) or an electronically controllable brake booster are also available in modern vehicles, so that the benefits of the invention without additional
Sensorik oder Aktorik im Fahrzeug erzielt werden kann.Sensors or actuators in the vehicle can be achieved.
Im Fahrbetrieb werden permanent die Daten der Sensoren des Airbag-Steuergeräts (z.B. zentrale Beschleunigungssensoren, ausgelagerte Beschleunigungssensoren an der Fahrzeugfront und den Fahrzeugseiten, Drucksensoren in den Türen,...) ausgewertet, so dass jederzeit eine Kollision erkannt werden kann. In diesem Fall kann eine Klassifikation des Unfalls hinsichtlich Schwere und ggf. Auftreffort und Winkel des Kollisionsobjektes am eigenen Fahrzeug durchgeführt werden. Eine automatische Bremsung wird ausgelöst und mit Hilfe eines aktiven bzw. fahrerunabhängigen Bremssystems ausgeführt, wenn ein Unfall erkannt wird, bei dem aufWhen driving, the data of the sensors of the airbag control unit (for example, central acceleration sensors, externalized acceleration sensors on the front of the vehicle and the sides of the vehicle, pressure sensors in the doors, etc.) are continuously evaluated so that a collision can be detected at any time. In this case, a classification of the accident in terms of severity and possibly impact location and angle of the collision object can be performed on your own vehicle. An automatic braking is triggered and executed by means of an active or driver-independent braking system when an accident is detected in which
Basis von Art und Schwere und/oder gemessener Bewegungs- und/oder Bediengrößen davon auszugehen ist, dass der Fahrer das Fahrzeug nicht beherrschen kann und ergänzend oder alternativ dazu festgestellt wird, dass sich das Fahrzeug auch nach dem Unfall mit hoher Geschwindigkeit bewegt.Based on type and severity and / or measured movement and / or operating variables, it is to be assumed that the driver can not control the vehicle and, in addition or alternatively, it is determined that the vehicle is moving at high speed even after the accident.
Die Verlangsamung des Fahrzeugs kann dabei z.B. in Form einer Vollbremsung erfolgen. Es kann aber auch eine Bremsung mit veränderlicher Verzögerung erfolgen, so dass z.B. bei hoher Geschwindigkeit stark verzögert wird, um schnell kinetische Energie abzubauen. Bewegt sich das Fahrzeug nach einer gewissen Zeit nur noch langsam, kann die Bremsung zurückgenommen werden, da die Schreckreaktion des Fahrers beendet und das Fahrzeug bei niedrigen Geschwindigkeiten vom Fahrer leichter kontrollierbar ist. Diese Variante würde dem Fahrer dann eine Übernahme der Kontrolle über das Fahrzeug erlauben und beispielsweise ein Wegfahren des Fahrzeugs aus Orten mit hoher Gefahr eines weiteren Unfalls ermöglichen. Bei diesen Orten hoher Gefahr handelt es sich beispielsweise um Kreuzungen, Bahnübergänge, oder Fahrspuren auf der Autobahn.The deceleration of the vehicle can be done for example in the form of full braking. But it can also be a braking with variable delay, so that is greatly delayed, for example, at high speed to quickly reduce kinetic energy. If the vehicle moves slowly after a certain time, can the braking can be withdrawn since the driver's startle reaction stops and the vehicle is easier to control by the driver at low speeds. This variant would then allow the driver to take control of the vehicle and, for example, allow the vehicle to drive away from places at high risk of another accident. These places of high risk are, for example, intersections, railroad crossings, or lanes on the highway.
Fig. 1 zeigt den Aufbau der vorliegenden Erfindung. Ausgehend von den Ausgangssignalen der Airbagsensoren 100 wird - in Block 150 das Vorliegen einer Kollision erkannt und optional eines Klassifikation der Kollision durchgeführt, in Block 151 eine Beurteilung der Beherrschbarkeit der vorliegenden Situation durch den Fahrer durchgeführt und in Block 152 die Art und Intensität eines geeigneten Bremseingriffs ermittelt. Abhängig vom Ermittlungsergebnis in Block 152 werden die Bremsaktoren in Block 102 angesteuert. Dabei kann beispielsweise auf die einem ESP-System oder EHB-System zugrunde liegende Hydraulik oder einen elektronisch ansteuerbaren Bremskraftverstärker zurückgegriffen werden.Fig. 1 shows the structure of the present invention. Based on the output signals of the airbag sensors 100, in block 150 the presence of a collision is detected and optionally a classification of the collision is performed, in block 151 an assessment of the controllability of the present situation by the driver is made and in block 152 the type and intensity of a suitable braking intervention determined. Depending on the determination result in block 152, the brake actuators are activated in block 102. In this case, for example, the hydraulics underlying an ESP system or EHB system or an electronically controllable brake booster can be used.
Den Blöcken 150, 151 und 152 können zusätzliche Eingangssignale zugeführt werden, welche aus einer optionalen ESP-Sensorik 101 stammen. Eine ESP-Sensorik umfasst üblicherweise Raddrehzahlsensoren, einen Gierratenssensor, einen Querbeschleunigungssensor sowie einen Lenkwinkelsensor.The blocks 150, 151 and 152 may be supplied with additional input signals originating from an optional ESP sensor 101. An ESP sensor typically includes wheel speed sensors, a yaw rate sensor, a lateral acceleration sensor and a steering angle sensor.
Figur 2 zeigt eine weitere Ausführungsform des erfindungsgemäßen Verfahrens. Nach dem Start in Block 200 wird in Block 201 abgefragt, ob eine Kollision vorliegt. Optional kann zusätzlich abgefragt werden, ob die Fahrzeuggeschwindigkeit einen oberen Grenzwert überschreitet und ob das Fahrzeug im momentanen Zustand durch den Fahrer nicht mehr beherrschbar ist. Falls die Antwort „Nein" lautet (in Fig. 2 stets mit „n" gekennzeichnet), dann wird zu Block 200 zurückgekehrt. Lautet die Antwort dagegen „Ja" (in Fig. 2 stets mit „y" gekennzeichnet), dann wird in Block 202 ein fahrerunabhängiger Bremseingriff durchgeführt. Anschließend wird in Block 203 abgefragt, ob die Geschwindigkeit des Fahrzeugs einen vorgegebenen unteren Schwellenwert unterschreitet bzw. ob die Rücknahmebedingung für Rücknahme der Intensität des Bremseingriffs erfüllt ist.. Lautet den Antwort „Nein", dann wird zum Eingang von Block 203 zurückverzweigt. Lautet die Antwort dagegen ,Ja", dann wird in Block 204 die Intensität des Bremseingriffs vermindert oder der Bremseingriff wird sogar ganz aufgehoben. In Block 205 endet das Verfahren.FIG. 2 shows a further embodiment of the method according to the invention. After starting in block 200, a query is made in block 201 as to whether a collision has occurred. Optionally, it can additionally be queried whether the vehicle speed exceeds an upper limit value and whether the vehicle in the current state can no longer be controlled by the driver. If the answer is "No" (always labeled "n" in FIG. 2) then returns to block 200. On the other hand, if the answer is "yes" (always marked "y" in FIG. 2), then in block 202 a driver-independent braking intervention is performed. Subsequently, a query is made in block 203 as to whether the speed of the vehicle falls below a predefined lower threshold value or whether the return condition for canceling the intensity of the braking intervention is fulfilled If the answer is "No", then it branches back to the input of block 203. If the answer is, yes ", then in block 204 the intensity of the braking intervention is reduced or the braking intervention is even completely canceled. In block 205, the process ends.
In einer Ausgestaltung der Erfindung kann auch die Möglichkeit einer zusätzlichen Zurücknahme der Intensität des Bremseingriffs durch den Fahrer vorgesehen sein, z.B. bei Erfassung einer Fahrpedalbetätigung durch den Fahrer. Dies ist zum Beispiel dann vorteilhaft, wenn der Fahrer nach der Kollision das Fahrzeug wieder unter Kontrolle hat, obwohl die aktuelle Fahrzeuggeschwindigkeit noch größer als der untere Schwellenwert ist. In one embodiment of the invention, the possibility of an additional withdrawal of the intensity of the braking intervention by the driver may be provided, for example when detecting an accelerator operation by the driver. This is advantageous, for example, when the driver has the vehicle under control again after the collision, even though the current vehicle speed is still greater than the lower threshold value.
Im Rahmen der Erfindung ist es möglich, dass die im Falle einer erkannten Kollision automatisch ausgelöste Verzögerung des Fahrzeugs auch durch eine geeignete Ansteuerung von Motormanagement oder Getriebe zurückgenommen wird, bevor das Fahrzeug zum Stehen kommt. Auch dadurch wird es dem Fahrzeugführer ermöglicht, das Fahrzeug aus der Gefahrenzone zu bringen.In the context of the invention, it is possible that the automatically triggered in the case of a detected collision deceleration of the vehicle is also withdrawn by a suitable control of engine management or transmission before the vehicle comes to a halt. This also allows the driver to get the vehicle out of the danger zone.
Die Intensität des Bremseingriffs wird zurückgenommen,The intensity of the braking intervention is withdrawn,
- wenn die Geschwindigkeit eine untere Schwelle unterschreitet und/oder- if the speed falls below a lower threshold and / or
- wenn der Fahrer zu erkennen gibt, dass die automatische Verzögerung beendet werden soll. Dies kann z.B. auf Basis der Betätigung von Fahrpedal und/oder Bremspedal erkannt werden. if the driver indicates that the automatic deceleration is to be terminated. This can e.g. be detected on the basis of the operation of accelerator pedal and / or brake pedal.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102004058814A DE102004058814A1 (en) | 2004-12-07 | 2004-12-07 | Method and device for vehicle deceleration after a collision |
| DE102004058814.7 | 2004-12-07 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2006061276A1 true WO2006061276A1 (en) | 2006-06-15 |
Family
ID=35510486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2005/055225 Ceased WO2006061276A1 (en) | 2004-12-07 | 2005-10-13 | Method and device for vehicle deceleration after a collision |
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| DE (1) | DE102004058814A1 (en) |
| WO (1) | WO2006061276A1 (en) |
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| EP2004462B1 (en) | 2006-04-03 | 2015-09-09 | Robert Bosch GmbH | Deactivation of a safety function by braking |
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| DE102006034808A1 (en) * | 2006-04-03 | 2007-10-04 | Robert Bosch Gmbh | Braking strategy for vehicles with manual gearshift involves determining if engine revolution rate is anticipated to fall below defined threshold as result of braking process and if so terminating or reducing driver-independent braking |
| DE102006059036A1 (en) | 2006-12-14 | 2008-06-19 | Volkswagen Ag | Method and braking system to avoid multi-collision accidents and mitigate their effects |
| DE102008010667B4 (en) | 2007-02-22 | 2023-10-05 | Continental Autonomous Mobility Germany GmbH | Method and device for assisting a vehicle operator |
| DE102007025960A1 (en) | 2007-06-04 | 2008-12-11 | Robert Bosch Gmbh | Method for adjusting a brake system in a vehicle |
| FR2920122A1 (en) * | 2007-08-21 | 2009-02-27 | Peugeot Citroen Automobiles Sa | Motor vehicle e.g. car, path controlling method, involves detecting collision, and blocking wheels for preventing steering capacity to maintain vehicle after collision on path that is tangent to path followed by vehicle before collision |
| DE102007044988A1 (en) * | 2007-09-20 | 2009-04-09 | Robert Bosch Gmbh | Method for influencing the movement of a vehicle |
| DE102008042962A1 (en) * | 2008-10-20 | 2010-04-22 | Robert Bosch Gmbh | Method for adjusting a braking system of a vehicle |
| DE102008044214B4 (en) | 2008-12-01 | 2024-05-08 | Robert Bosch Gmbh | Method for adjusting a braking system in a vehicle |
| DE102009002375B4 (en) | 2009-04-15 | 2022-10-20 | Robert Bosch Gmbh | Method for activating and/or controlling at least one protection system for influencing vehicle movement |
| DE102009002815A1 (en) | 2009-05-05 | 2010-11-11 | Robert Bosch Gmbh | Method for activating and controlling brake system for influencing vehicle movement after primary collision is detected, involves activating braking function in brake system after primary collision is detected |
| DE102009047373A1 (en) | 2009-12-02 | 2011-06-09 | Robert Bosch Gmbh | Method for activating and / or controlling at least one reversible retaining device |
| DE102011005395A1 (en) | 2010-03-30 | 2011-12-15 | Continental Teves Ag & Co. Ohg | Method for controlling brake assembly of motor car, involves fulfilling condition of activation when driving stability function of brake assembly is provided by antilock braking system and electronic stability control/active yaw control |
| DE102012203733B3 (en) | 2012-03-09 | 2013-12-19 | Ford Global Technologies, Llc | Method and device for autonomous braking of a motor vehicle after a first collision |
| DE102013204893A1 (en) * | 2013-03-20 | 2014-09-25 | Robert Bosch Gmbh | Method and system for avoiding a collision in connection with vehicles |
| DE102015225800A1 (en) | 2015-12-17 | 2017-06-22 | Robert Bosch Gmbh | Method for influencing a vehicle movement |
| DE102016207284A1 (en) | 2016-04-28 | 2017-11-02 | Robert Bosch Gmbh | An automated parking brake and method for controlling an automated parking brake following an accident of a motor vehicle |
| CN110065462B (en) * | 2018-01-24 | 2022-05-03 | 现代自动车株式会社 | Ignition control system for safety air bag of vehicle and control method thereof |
| DE102021206563A1 (en) * | 2021-06-24 | 2022-12-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | Braking system and method of operating a braking system |
| DE102022129752A1 (en) * | 2022-11-10 | 2024-05-16 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for operating a braking system of a motor vehicle |
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| DE102004058814A1 (en) | 2006-06-08 |
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