JP4596459B2 - 自動車における非常制動プロセスを自動的に開始する方法および装置 - Google Patents
自動車における非常制動プロセスを自動的に開始する方法および装置 Download PDFInfo
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- JP4596459B2 JP4596459B2 JP2004529708A JP2004529708A JP4596459B2 JP 4596459 B2 JP4596459 B2 JP 4596459B2 JP 2004529708 A JP2004529708 A JP 2004529708A JP 2004529708 A JP2004529708 A JP 2004529708A JP 4596459 B2 JP4596459 B2 JP 4596459B2
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- 238000000034 method Methods 0.000 title claims description 38
- 230000008569 process Effects 0.000 title claims description 22
- 230000000977 initiatory effect Effects 0.000 title description 3
- 238000011156 evaluation Methods 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 4
- 230000002596 correlated effect Effects 0.000 claims 1
- 230000001133 acceleration Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 230000002123 temporal effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- 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
-
- 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
- B60T2201/03—Brake assistants
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Description
Claims (6)
- 車両において先行する警告制動プロセスを伴う非常制動プロセスを自動的に開始する方法であって,
前記警告制動プロセスに際して,1以上の車輪をロッキング限界まで減速し,前記ロッキング限界の車輪について走行路と前記車輪の間の摩擦係数を取得し,かつ
前記警告制動プロセスの始動と前記非常制動プロセスの始動の間の時間間隔を,前記取得した摩擦係数から求められる前記車両の減速能力に基づき変化させ,
前記非常制動プロセスの初期段階において,前記警告制動の際に増大された制動力以下の範囲では前記制動力が相対的に高い上昇率で増大し,前記警告制動の際に増大された制動力を超える範囲では前記制動力が相対的に低い上昇率で増大することを特徴とする,非常制動プロセスを自動的に開始する方法。 - 前記警告制動プロセスに際して,前記車両の単一の軸の車輪が制動されることを特徴とする,請求項1に記載の方法。
- 前記単一の軸の制動された車輪は,駆動軸の車輪であることを特徴とする,請求項2に記載の方法。
- 前記警告制動の際に,少なくとも1つの車輪が前記ロッキング限界に達するまで,または前記制動力もしくは前記制動力と相関する状態量が所定の最大値(Fmax)に達するまで,前記制動力(F)が増大され,かつ
車輪が前記ロッキング限界に達することなく前記最大値が達成された場合に,前記摩擦係数について,より高い算出値が基礎にされることを特徴とする,請求項1に記載の方法。 - 前記警告制動の際に求められた前記摩擦係数は,前記非常制動を開始する際のブレーキ圧機構の制御に考慮されることを特徴とする,請求項4に記載の方法。
- 請求項1〜5のいずれか1項に記載の方法を実施するための制御装置において:
状況評価ユニット(10)は,障害物との測定された間隔(D)および障害物の測定された相対速度(Vr)に基づいて,並びに,前記車両の減速(a)のための暫定的な値に基づいて,警告制動を開始する時点(t0)と,かかる時点より遅い,非常制動を開始する暫定的な時点(t1)を定めるように構成されており,
前記制動される車輪のスリップ状態に基づいて前記制動圧力を変化させ,走行路との前記摩擦係数も計算するように構成されたABS/ESP制御ユニット(12)は,前記警告制動の際に前記摩擦係数を求めて,前記状況評価ユニット(10)へ報告し,かつ
前記状況評価ユニット(10)は,前記求められた摩擦係数によって与えられる前記車両の減速(a)に基づいて,前記非常制動を開始するための前記暫定的に仮定された時点(t1)を修正することを特徴とする,制御装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10237714A DE10237714A1 (de) | 2002-08-17 | 2002-08-17 | Verfahren und Vorrichtung zur automatischen Einleitung eines Notbremsvorgangs bei Kraftfahrzeugen |
PCT/DE2003/002588 WO2004018272A1 (de) | 2002-08-17 | 2003-08-01 | Verfahren und vorrichtung zur automatischen einleitung eines notbremsvorgangs bei kraftfahrzeugen |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005535501A JP2005535501A (ja) | 2005-11-24 |
JP4596459B2 true JP4596459B2 (ja) | 2010-12-08 |
Family
ID=30775371
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004529708A Expired - Fee Related JP4596459B2 (ja) | 2002-08-17 | 2003-08-01 | 自動車における非常制動プロセスを自動的に開始する方法および装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20060163943A1 (ja) |
EP (1) | EP1530527B1 (ja) |
JP (1) | JP4596459B2 (ja) |
DE (2) | DE10237714A1 (ja) |
WO (1) | WO2004018272A1 (ja) |
Families Citing this family (30)
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DE10355219A1 (de) * | 2003-11-26 | 2005-06-30 | Daimlerchrysler Ag | Verfahren zur Anhaltewegverkürzung |
DE102004008894A1 (de) * | 2004-02-24 | 2005-09-08 | Robert Bosch Gmbh | Sicherheitssystem für ein Fortbewegungsmittel sowie hierauf bezogenes Verfahren |
DE102004018394B4 (de) * | 2004-04-16 | 2014-07-24 | Daimler Ag | Insassenschutzsystem |
DE102004030756A1 (de) * | 2004-06-25 | 2006-01-19 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur kinästhetischen Warnung des Fahrers eines Kraftfahrzeugs |
DE102004041225B4 (de) * | 2004-08-26 | 2016-03-24 | Volkswagen Ag | Vorrichtung und Verfahren zum Warnen eines Fahrers in einem Fahrzeug |
DE102004055399A1 (de) * | 2004-11-17 | 2006-05-18 | Daimlerchrysler Ag | Verfahren und Vorrichtung zur Steuerung eines Fahrzeugs |
ATE385015T1 (de) * | 2005-08-02 | 2008-02-15 | Delphi Tech Inc | Verfahren zur steuerung eines fahrerassistenzsystems und dazugehörige vorrichtung |
DE102005054754B4 (de) * | 2005-11-17 | 2019-05-16 | Bayerische Motoren Werke Aktiengesellschaft | Zeitpunktermittlung zum Einleiten eines notwendigen Bremseingriffs für ein Kraftfahrzeug |
US8046146B2 (en) * | 2006-02-03 | 2011-10-25 | Kelsey-Hayes Company | Adaptive ABS control |
DE102008064645A1 (de) * | 2008-04-11 | 2010-04-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Fahrerassistenzanlage für Kraftfahrzeuge und Verfahren zum haptischen Warnen eines Fahrers eines Kraftfahrzeuges |
US8256851B2 (en) * | 2008-07-10 | 2012-09-04 | Robert Bosch Gmbh | Deceleration control for a vehicle |
DE112009001524A5 (de) * | 2008-09-10 | 2011-04-07 | Continental Teves Ag & Co. Ohg | Verfahren zur Lenkunterstützung bei Notmanöver |
WO2010045921A1 (de) | 2008-10-22 | 2010-04-29 | Continental Teves Ag & Co. Ohg | Fahrerassistenzsystem für ein kraftfahrzeug |
DE102009033097A1 (de) * | 2009-07-15 | 2011-02-03 | GM Global Technology Operations, Inc., Detroit | Verfahren und Vorrichtung zur Ansteuerung zumindest einer Fahrzeugkomponente eines Fahrzeugs |
DE102009038421B4 (de) * | 2009-08-21 | 2020-07-30 | Audi Ag | Kraftfahrzeug |
DE102009045661A1 (de) * | 2009-10-14 | 2011-04-21 | Robert Bosch Gmbh | Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs |
DE102010031038A1 (de) * | 2010-07-07 | 2012-01-12 | Robert Bosch Gmbh | Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeuges |
DE102010027449A1 (de) * | 2010-07-17 | 2012-01-19 | Man Truck & Bus Ag | Verfahren zur Ausführung eines Notbremsvorgangs eines Fahrzeugs |
EP2407357B1 (en) * | 2010-07-17 | 2018-03-21 | Valeo Schalter und Sensoren GmbH | Method for autonomously braking a motor vehicle and autonomous braking system for a motor vehicle |
US8983706B2 (en) | 2011-03-01 | 2015-03-17 | Continental Teves Ag & Co. Ohg | Safety device for motor vehicle and method for operating a motor vehicle |
WO2012117044A2 (de) | 2011-03-01 | 2012-09-07 | Continental Teves Ag & Co. Ohg | Verfahren und vorrichtung zur prädiktion und adaption von bewegungstrajektorien von kraftfahrzeugen |
DE102012203673A1 (de) * | 2011-03-09 | 2012-10-04 | Continental Teves Ag & Co. Ohg | Sicherheitsvorrichtung für ein Kraftfahrzeug und Verfahren zum Betrieb eines Kraftfahrzeugs |
SE1250180A1 (sv) * | 2012-02-28 | 2013-08-29 | Scania Cv Ab | Förfarande och system för nödbromsning av motorfordon |
WO2014094772A1 (de) | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Verfahren und vorrichtung zum automatisierten bremsen und lenken eines fahrzeugs |
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-
2002
- 2002-08-17 DE DE10237714A patent/DE10237714A1/de not_active Withdrawn
-
2003
- 2003-08-01 US US10/524,700 patent/US20060163943A1/en not_active Abandoned
- 2003-08-01 JP JP2004529708A patent/JP4596459B2/ja not_active Expired - Fee Related
- 2003-08-01 EP EP03792125A patent/EP1530527B1/de not_active Expired - Lifetime
- 2003-08-01 DE DE50308504T patent/DE50308504D1/de not_active Expired - Lifetime
- 2003-08-01 WO PCT/DE2003/002588 patent/WO2004018272A1/de active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
DE10237714A1 (de) | 2004-02-26 |
US20060163943A1 (en) | 2006-07-27 |
DE50308504D1 (de) | 2007-12-13 |
WO2004018272A1 (de) | 2004-03-04 |
EP1530527B1 (de) | 2007-10-31 |
JP2005535501A (ja) | 2005-11-24 |
EP1530527A1 (de) | 2005-05-18 |
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