DE102015014413A1 - Method for braking a vehicle with a predetermined change in the direction of travel - Google Patents

Method for braking a vehicle with a predetermined change in the direction of travel Download PDF

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Publication number
DE102015014413A1
DE102015014413A1 DE102015014413.8A DE102015014413A DE102015014413A1 DE 102015014413 A1 DE102015014413 A1 DE 102015014413A1 DE 102015014413 A DE102015014413 A DE 102015014413A DE 102015014413 A1 DE102015014413 A1 DE 102015014413A1
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Germany
Prior art keywords
collision
vehicle
travel
braking
partner
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Withdrawn
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DE102015014413.8A
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German (de)
Inventor
Markus Fritsch
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Mercedes Benz Group AG
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Daimler AG
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Priority to DE102015014413.8A priority Critical patent/DE102015014413A1/en
Publication of DE102015014413A1 publication Critical patent/DE102015014413A1/en
Withdrawn legal-status Critical Current

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    • 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
    • B60R21/0134—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 imminent contact with an obstacle, e.g. using radar systems
    • 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
    • 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
    • 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
    • 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
    • B60R2021/0002—Type of accident
    • B60R2021/0011—Rear collision or recoiling bounce after frontal collision
    • 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
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B60R2021/01259—Brakes
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/406—Torque distribution between left and right wheel

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)

Abstract

Ein Verfahren zum Abbremsen eines Fahrzeugs (1) in Abhängigkeit von einer erfassten bevorstehenden Kollision mit einem Kollisionspartner (2) sieht vor, dass Ort und/oder Bewegungsrichtung (R2) des Kollisionspartners (2) ermittelt werden und mindestens eine Bremsvorrichtung des Fahrzeugs (1) so angesteuert wird, dass durch eine Änderung der Fahrtrichtung (R1, R1') näherungsweise ein vorbestimmter Auftreffort und/oder näherungsweise ein vorbestimmter Auftreffwinkel des Kollisionspartners (2) im Kollisionszeitpunkt erzielt wird.A method for braking a vehicle (1) as a function of a detected imminent collision with a collision partner (2) provides that the location and / or direction of movement (R2) of the collision partner (2) are determined and at least one braking device of the vehicle (1). is controlled so that by a change in the direction of travel (R1, R1 ') approximately a predetermined impact location and / or approximately a predetermined angle of incidence of the collision partner (2) is achieved at the time of collision.

Description

Die Erfindung betrifft ein Verfahren zum Abbremsen eines Fahrzeugs in Abhängigkeit von einer erfassten bevorstehenden Kollision mit einem Kollisionspartner.The invention relates to a method for braking a vehicle as a function of a detected imminent collision with a collision partner.

Aus dem Stand der Technik sind Fahrassistenzsysteme bekannt, die bei einer Bremsung, insbesondere bei einer Gefahrenbremsung eines Fahrzeugs die Beibehaltung der Fahrtrichtung sichern und ein Ausbrechen oder Schleudern des Fahrzeugs verhindern. Derartige Systeme sind beispielsweise als elektronisches Stabilitätsprogramm (ESP) oder allgemeiner als Fahrdynamikregelung bekannt.Driver assistance systems are known from the prior art, which ensure the maintenance of the direction of travel during a braking, in particular during emergency braking of a vehicle and prevent the vehicle from breaking out or spinning. Such systems are known, for example, as an electronic stability program (ESP) or more generally as a driving dynamics control.

Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Abbremsung eines Fahrzeugs im Falle einer bevorstehenden unvermeidbaren Kollision mit einem Kollisionspartner anzugeben.The invention is based on the object to provide a comparison with the prior art improved method for decelerating a vehicle in the event of an imminent unavoidable collision with a collision partner.

Die Aufgabe wird erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale gelöst.The object is achieved by the features specified in claim 1.

Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.

Ein Verfahren zum Abbremsen eines Fahrzeugs in Abhängigkeit von einer erfassten bevorstehenden Kollision mit einem Kollisionspartner sieht vor, dass Ort und/oder Bewegungsrichtung des Kollisionspartners ermittelt werden und mindestens eine Bremsvorrichtung des Fahrzeugs so angesteuert wird, dass durch eine Änderung der Fahrtrichtung näherungsweise ein vorbestimmter Auftreffort und/oder näherungsweise ein vorbestimmter Auftreffwinkel des Kollisionspartners im Kollisionszeitpunkt erzielt wird.A method for braking a vehicle as a function of a detected imminent collision with a collision partner provides that the location and / or direction of movement of the collision partner are determined and at least one braking device of the vehicle is controlled so that by changing the direction of travel approximately a predetermined impact and / or approximately a predetermined angle of incidence of the collision partner is achieved at the time of collision.

Beispielsweise kann das Verfahren vorbestimmte Auftreffwinkel vorsehen, bei denen Schutzeinrichtungen des Fahrzeugs besonders wirksam die Aufprallenergie absorbieren und somit die Fahrzeuginsassen besonders gut schützen. Es ist auch möglich, dass das Verfahren vorbestimmte bevorzugte Aufprallorte, so genannte Crashzonen, vorsieht, welche ebenfalls eine besonders gute Schutzwirkung für die Fahrzeuginsassen entwickeln und/oder bei welchen der Sachschaden einer dort wirkenden Kollision gering ist. In vorteilhafter Weise kann damit bei einer erkannten bevorstehenden Kollision die Schutzwirkung vorhandener Schutzeinrichtungen besonders gut ausgenutzt werden.For example, the method can provide predetermined angles of incidence at which protective devices of the vehicle absorb the impact energy in a particularly effective manner and thus protect the vehicle occupants particularly well. It is also possible that the method provides predetermined preferred impact locations, so-called crash zones, which likewise develop a particularly good protective effect for the vehicle occupants and / or in which the property damage of a collision acting there is low. In an advantageous manner, the protective effect of existing protective devices can thus be utilized particularly well in the event of a recognized imminent collision.

Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.

Dabei zeigen:Showing:

1 schematisch eine Draufsicht eines Fahrzeugs und eines Kollisionspartners vor einer Kollision nach einem Abbremsen nach dem Stand der Technik und 1 schematically a plan view of a vehicle and a collision partner before a collision after a deceleration according to the prior art and

2 schematisch eine Draufsicht eines Fahrzeugs und eines Kollisionspartners vor einer Kollision nach einem Abbremsen mit vorbestimmter Änderung der Fahrtrichtung. 2 schematically a plan view of a vehicle and a collision partner before a collision after braking with a predetermined change in the direction of travel.

Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.

1 zeigt ein Fahrzeug 1 und einen Kollisionspartner 2, die sich auf einer Straße 3 mit einer rechten und einer linken Fahrspur 3.1, 3.2 bewegen, unmittelbar vor einer Kollision. Fahrzeug 1 und Kollisionspartner 2 bewegen sich entlang der Fahrtrichtungen R1 beziehungsweise R2. Die Fahrtrichtung R2 des Kollisionspartners 2 ist seitlich-frontal auf das Fahrzeug 1 gerichtet. 1 shows a vehicle 1 and a collision partner 2 that are on a street 3 with a right and a left lane 3.1 . 3.2 move, just before a collision. vehicle 1 and collision partners 2 move along the directions R1 and R2. The direction of travel R2 of the collision partner 2 is side-frontal on the vehicle 1 directed.

Führt der Fahrer des Fahrzeugs 1 nach Erkennen der bevorstehenden Kollision eine Gefahrenbremsung aus, so sorgen Abbremsverfahren und/oder Fahrassistenzsysteme nach dem Stand der Technik, beispielsweise ein elektronisches Stabilitäts-Programm (ESP) dafür, dass die Fahrtrichtung des Fahrzeugs 1 während des Abbremsens näherungsweise beibehalten wird. Dies gilt auch, wenn die Gefahrenbremsung nicht manuell durch den Fahrer, sondern automatisch durch ein Fahrassistenzsystem nach dem Stand der Technik ausgelöst wird.Leads the driver of the vehicle 1 After detection of the impending collision from an emergency braking, so brake systems and / or driver assistance systems according to the prior art, for example, an electronic stability program (ESP) ensure that the direction of travel of the vehicle 1 is approximately maintained during deceleration. This also applies if the emergency braking is not triggered manually by the driver, but automatically by a driving assistance system according to the prior art.

Infolgedessen ist für die Kollision zwischen dem Fahrzeug 1 und dem Kollisionspartner 2 nur ein im Vergleich zu einer Frontalkollision vergleichsweise kleiner Stauchungsbereich verfügbar.As a result, for the collision between the vehicle 1 and the collision partner 2 only a comparatively small compression area compared to a frontal collision available.

2 zeigt einen Kollisionspartner 2 sowie ein Fahrzeug 1 in einer Position vor und als Fahrzeug 1' in einer Position nach Ausführung des erfindungsgemäßen Abbremsverfahrens. Vor dem Erkennen einer bevorstehenden Kollision mit dem Kollisionspartner 2 bewegt sich das Fahrzeug 1 in der Fahrtrichtung R1 näherungsweise entlang der rechten Fahrspur 3.1. 2 shows a collision partner 2 as well as a vehicle 1 in a position in front and as a vehicle 1' in a position after execution of the deceleration method according to the invention. Before recognizing an impending collision with the collision partner 2 the vehicle is moving 1 in the direction of travel R1 approximately along the right lane 3.1 ,

Der Fahrer des Fahrzeugs 1 erkennt aus der auf sein Fahrzeug gerichteten Fahrtrichtung R2 des Kollisionspartners 2, dass eine Kollision unausweichlich ist und führt eine Gefahrenbremsung aus. In ähnlicher Weise ist es möglich, dass eine bevorstehende unausweichliche Kollision mit einem Fahrassistenzsystem erkannt wird, welches daraufhin eine Gefahrenbremsung auslöst.The driver of the vehicle 1 detects from the direction of travel R2 of the collision partner directed towards his vehicle 2 in that a collision is unavoidable and results in emergency braking. Similarly, it is possible that an imminent inescapable collision with a driver assistance system is detected, which then triggers an emergency braking.

Erfindungsgemäß erkennt ein Fahrassistenzsystem, wenn eine Gefahrenbremsung durchgeführt wird und erfasst in diesem Fall den Ort und/oder die Fahrtrichtung eines möglichen Kollisionspartners 2. Das Fahrassistenzsystem ermittelt, ob eine Kollision des Fahrzeugs 1 mit dem Kollisionspartner 2 unausweichlich ist. In diesem Fall steuert das Fahrassistenzsystem die Bremsen der Räder so an, dass eine Änderung der ursprünglichen Fahrtrichtung R1 in die geänderte Fahrtrichtung R1' erfolgt. Beispielsweise ist es möglich, durch Eingriff in das elektronische Stabilitätsprogramm die Bremswirkung am vorderen, in Fahrtrichtung R1, R1', rechten Rad abzuschwächen.According to the invention recognizes a driver assistance system when an emergency braking is performed and detected in this case, the location and / or the direction of travel of a possible collision partner 2 , The driver assistance system determines whether a collision of the vehicle 1 with the collision partner 2 is inevitable. In this case, the driver assistance system controls the brakes of the wheels so that a change of the original direction of travel R1 takes place in the changed direction of travel R1 '. For example, it is possible to attenuate the braking effect at the front, in the direction of travel R1, R1 ', right wheel by intervention in the electronic stability program.

Die Änderung der Fahrtrichtung R1' gegenüber der ursprünglichen Fahrtrichtung R1 wird dabei so bemessen, dass der Auftreffort und/oder der Auftreffwinkel des Fahrzeugs 1 und des Kollisionspartners 2 im Zeitpunkt der Kollision näherungsweise vorbestimmten Werten entsprechen. Beispielsweise kann die Änderung der Fahrtrichtung R1' so bemessen sein, dass ein möglichst großer Stauchungsbereich die Aufprallenergie der Kollision aufnehmen kann. Es ist auch möglich, die Kollision auf als Crashzone bezeichnete Bereiche des Fahrzeugs 1' zu lenken, die bei einem Auftreffen des Kollisionspartners 2 die Fahrzeuginsassen möglichst gut schützen und/oder den Sachschaden bei der Kollision möglichst gering halten.The change in the direction of travel R1 'relative to the original direction of travel R1 is dimensioned such that the point of impact and / or the angle of incidence of the vehicle 1 and the collision partner 2 correspond approximately to predetermined values at the time of the collision. For example, the change in the direction of travel R1 'can be dimensioned such that the largest possible compression area can absorb the impact energy of the collision. It is also possible for the collision to be on areas of the vehicle called crash zone 1' to steer in the event of an impact of the collision partner 2 To protect the vehicle occupants as well as possible and / or to minimize damage to property during the collision.

In vorteilhafter Weise lässt sich somit durch das erfindungsgemäße Verfahren bei einer unvermeidbaren Kollision eines Fahrzeugs 1, 1' mit einem Kollisionspartner 2 der Schutz der Insassen verbessern und der durch eine Kollision verursachte Sachschaden verringern.In an advantageous manner can thus be by the inventive method in an unavoidable collision of a vehicle 1 . 1' with a collision partner 2 improve the protection of the occupants and reduce the damage caused by a collision.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1, 1'1, 1 '
Fahrzeugvehicle
22
Kollisionspartnercollision partners
33
StraßeStreet
3.13.1
rechte Fahrspurright lane
3.23.2
linke Fahrspurleft lane
R1, R1'R1, R1 '
Fahrtrichtung des FahrzeugsDriving direction of the vehicle
R2R2
Fahrtrichtung des KollisionspartnersDirection of travel of the collision partner

Claims (4)

Verfahren zum Abbremsen eines Fahrzeugs (1) in Abhängigkeit von einer erfassten bevorstehenden Kollision mit einem Kollisionspartner (2), dadurch gekennzeichnet, dass Ort und/oder Bewegungsrichtung (R2) des Kollisionspartners (2) ermittelt werden und mindestens eine Bremsvorrichtung des Fahrzeugs (1) so angesteuert wird, dass durch eine Änderung der Fahrtrichtung (R1, R1') näherungsweise ein vorbestimmter Auftreffort und/oder näherungsweise ein vorbestimmter Auftreffwinkel des Kollisionspartners (2) im Kollisionszeitpunkt erzielt wird.Method for braking a vehicle ( 1 ) in response to a detected impending collision with a collision partner ( 2 ), characterized in that location and / or movement direction (R2) of the collision partner ( 2 ) and at least one braking device of the vehicle ( 1 ) is controlled so that by a change in the direction of travel (R1, R1 ') approximately a predetermined impact location and / or approximately a predetermined angle of incidence of the collision partner ( 2 ) is achieved at the time of collision. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die mindestens eine Bremsvorrichtung über eine Fahrdynamikregelung angesteuert wird, wobei die Bremswirkung an mindestens einem Rad vermindert oder ausgesetzt wird, um die Änderung der Fahrtrichtung (R1, R1') zu bewirken.A method according to claim 1, characterized in that the at least one braking device is controlled via a vehicle dynamics control, wherein the braking effect is reduced or exposed to at least one wheel to effect the change of the direction of travel (R1, R1 '). Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass durch die Änderung der Fahrtrichtung (R1, R1') der Stauchungsbereich für die Kollision vergrößert wird.A method according to claim 1 or 2, characterized in that by the change of the direction of travel (R1, R1 ') of the compression range for the collision is increased. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Auftreffort und/oder der Auftreffwinkel so vorbestimmt sind, dass die Kollision in einer vorbestimmten Crashzone des Fahrzeugs (1) erfolgt.Method according to one of the preceding claims, characterized in that the impact location and / or the angle of incidence are predetermined such that the collision in a predetermined crash zone of the vehicle ( 1 ) he follows.
DE102015014413.8A 2015-11-06 2015-11-06 Method for braking a vehicle with a predetermined change in the direction of travel Withdrawn DE102015014413A1 (en)

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DE102015014413.8A DE102015014413A1 (en) 2015-11-06 2015-11-06 Method for braking a vehicle with a predetermined change in the direction of travel

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110785338A (en) * 2017-06-20 2020-02-11 罗伯特·博世有限公司 Method and control device for controlling a vehicle in a crash situation

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110785338A (en) * 2017-06-20 2020-02-11 罗伯特·博世有限公司 Method and control device for controlling a vehicle in a crash situation
US11269339B2 (en) * 2017-06-20 2022-03-08 Robert Bosch Gmbh Method and control unit for controlling a vehicle during a collision

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