Evasion and brake-assist system for motor vehicles

Patent metadata

Field	Value
Publication number	US-10427674-B2
Application number	US-201414900035-A
Country	US
Kind code	B2
Filing date	May 19, 2014
Priority date	Jun 20, 2013
Publication date	Oct 1, 2019
Grant date	Oct 1, 2019

Abstract

An evasion and brake-assist system for motor vehicles, having a sensory system for sensing the traffic environment of the vehicle, an actuator system for interventions in a steering system and a brake system of the vehicle, and having an electronic control device in which an emergency evasion function is implemented that checks whether an emergency evasive maneuver is necessary based on the data supplied by the sensory system and then acts on the dynamics of the vehicle via the actuator system to assist the vehicle driver in initiating and/or executing the emergency evasive maneuver, characterized in that in the first phase of an evasive maneuver, the emergency evasion function intervenes exclusively in the transverse dynamics, and only after this phase, decides whether an intervention in the longitudinal dynamics will also take place.

First claim

What is claimed is:

1. An evasion and brake-assist system for a motor vehicle, comprising:
a sensory system for sensing a traffic environment of the vehicle;
an actuator system for providing interventions in a steering system and a brake system of the vehicle; and
an electronic control device implementing an emergency evasion function that checks whether an emergency evasive maneuver is necessary based on data supplied by the sensory system, and then acts on dynamics of the vehicle via the actuator system to assist a vehicle driver in initiating and/or executing the emergency evasive maneuver, wherein the electronic control device performs a first collision probability determination for the motor vehicle and initiates the emergency maneuver if the first probability determination reaches a specific value;
wherein in a first phase of the emergency evasive maneuver, the emergency evasion function intervenes exclusively in a transverse dynamics by actuating a steering system of the vehicle and maintaining a braking system of the vehicle in a deactivated state,
wherein only in a second phase after the first phase, the emergency evasion function makes a decision on whether an intervention in a longitudinal dynamics will also take place,
wherein in the second phase of the emergency evasive maneuver, the emergency evasion function continues intervening in the transverse dynamics through the actuating of the steering system and initiates the intervention in the longitudinal dynamics while the intervention in the transverse dynamics is continued, the intervention in the longitudinal dynamics including actuating the braking system to produce a symmetrical braking of left and right wheels of the vehicle,
wherein the electronic control device detects a countersteering by the vehicle driver that acts against the first phase of the emergency evasive maneuver,
wherein, in response to a detection of the countersteering, the electronic control device performs a second collision probability determination for the vehicle,
wherein the electronic control device implements the intervention in the longitudinal dynamics in response to the second collision probability determination indicating a need for the intervention in the longitudinal dynamics and
wherein the second collision probability determination is executed after the first collision probability determination.

2. The evasion and brake-assist system of claim 1 , wherein the decision as to whether the intervention in the longitudinal dynamics occurs is made at an instant that is determined by the emergency evasion function on the basis of a threshold-value criterion.

3. The evasion and brake-assist system of claim 2 , wherein the threshold-value criterion includes a threshold-value comparison for at least one of the following variables: a steering angle of the vehicle, a steering wheel angular velocity, a yaw rate, a yaw angle, a transverse displacement, a transverse acceleration, a wheel-speed ratio between the left and right wheels of the vehicle, a distance traveled since the beginning of the first phase, and a time passed since the beginning of the first phase.

4. The evasion and brake-assist system of claim 1 , wherein at least in the first phase of the emergency evasive maneuver, the intervention in the transverse dynamics includes an asymmetrical braking of the left and right wheels of the vehicle.

5. The evasion and brake-assist system of claim 1 , wherein the intervention in the transverse dynamics includes an intervention via an active steering system (SA).

6. The evasion and brake-assist system of claim 1 , wherein the intervention in the longitudinal dynamics is ended earlier than the intervention in the transverse dynamics.

7. The evasion and brake-assist system of claim 1 , wherein the intervention in the transverse dynamics is ended earlier than the intervention in the longitudinal dynamics.

8. The evasion and brake-assist system of claim 1 , wherein the emergency evasive maneuver is ended once the vehicle is determined to be on a trajectory that is in a lane adjacent to an original lane in which the vehicle was traveling prior to a beginning of the emergency evasive maneuver, and that is parallel to an original trajectory in the original lane.

9. The evasion and brake assist system of claim 1 , wherein:
the emergency evasive maneuver is initiated according to a setpoint trajectory determined by the electronic control device, and
the second phase is initiated if during the first phase of the emergency evasive maneuver a deviation is determined to be present between the setpoint trajectory and an actual trajectory of the vehicle.

Assignees

• Bosch Gmbh Robert

Inventors

• Flehmig Folko
• Braeuchle Christian

Classifications

• B60T2201/022

  Collision avoidance systems · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W10/184

  with wheel brakes · CPC title

• B62D15/0265

  Automatic obstacle avoidance by steering · CPC title

• B60T7/22

  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 title