Method for the emergency braking of an ego-vehicle and emergency braking system

Patent metadata

Field	Value
Publication number	US-12024145-B2
Application number	US-202117200991-A
Country	US
Kind code	B2
Filing date	Mar 15, 2021
Priority date	Sep 18, 2018
Publication date	Jul 2, 2024
Grant date	Jul 2, 2024

Abstract

A method for emergency braking of a subject vehicle includes: detecting, using a first surroundings detection system of the subject vehicle traveling in a direction of travel, a front area in front of the subject vehicle; if an object is detected in the front area, determining that a reliable target detection situation is present if at least the following target detection situation criteria are fulfilled: the detected object is a vehicle in front traveling in the direction of travel, the vehicle in front is followed over a minimum following period, in the minimum following period, the same vehicle in front is followed, providing an autonomous emergency braking system which is in an AEBS standby mode during travel outside an emergency braking situation; and if an emergency braking situation is detected outside of a reliable target detection situation, switching the autonomous emergency braking system to an active AEBS mode.

First claim

What claimed is:

1. A method for emergency braking of a subject vehicle, comprising:
detecting, using a first surroundings detection system of the subject vehicle traveling in a direction of travel, a front area in front of the subject vehicle;
if an object is detected in the front area, determining that a reliable target detection situation is present if at least the following target detection situation criteria are fulfilled:
the detected object is a vehicle in front traveling in the direction of travel,
the vehicle in front is followed over a minimum following period,
in the minimum following period, the same vehicle in front is followed,

providing an autonomous emergency braking system (AEBS) which is in an AEBS standby mode during travel outside an emergency braking situation;
if an emergency braking situation is detected outside of a reliable target detection situation, switching the autonomous emergency braking system to an active AEBS mode with an AEBS cascade comprising a first driver warning, subsequent partial braking, and subsequent emergency braking; and
if an emergency braking situation is detected in a reliable target detection situation, switching the autonomous emergency braking system to an active AEBS following mode in which emergency braking is performed without waiting for a driver warning to be issued.

2. The method of claim 1 , wherein, in the active AEBS following mode, the emergency braking is also initiated without waiting for a partial braking to be initiated.

3. The method of claim 1 , wherein the target detection situation criteria further comprise:
a relative transverse speed of the vehicle in front in relation to the subject vehicle being below a transverse speed limit value.

4. The method of claim 1 , wherein the target detection situation criteria further comprise:
the vehicle in front is not intending to perform, initiating, or performing a lane change.

5. The method of claim 1 , wherein the target detection situation criteria further comprise:
no second detection object moves between the subject vehicle and the object in front.

6. The method of claim 5 , wherein the projected period comprises the minimum following period, and
wherein no second detection object moves between the subject vehicle and the object in front comprises not ascertaining that a cutting-in maneuver of a second detection object is intended or being initiated or performed.

7. The method of claim 6 , wherein the cutting-in maneuver of the second detection object is from an adjacent traffic lane.

8. The method of claim 1 , wherein the target detection situation criteria further comprise:
it is provided as a further target detection situation criterion (ZESK 7 ) that the vehicle in front being classified in an object class, which does not change during the projected period.

9. The method of claim 8 , wherein the object class comprises truck.

10. The method of claim 1 , wherein the subject vehicle and the vehicle in front do not perform any exchange of data regarding an initiation of braking operations during the active AEBS following mode.

11. The method of claim 1 , wherein the target detection situation criteria further comprise one or more of the following:
a spatial or time interval to the vehicle in front being sufficiently constant,
a relative speed of the subject vehicle in relation to the vehicle in front lies within a predetermined speed tolerance range,
the vehicle in front is classified in an admissible object class.

12. The method of claim 11 , wherein sufficiently constant comprises lying within a specified interval range, and
wherein the admissible object class comprises truck or passenger car.

13. The method of claim 1 , wherein the target detection situation criteria further comprise:
an adaptive cruise control system for setting an automatic adaptive cruise control mode being active, with which an interval to the vehicle in front is adjusted by closed-loop control to an ACC target interval.

14. The method of claim 1 , wherein the first surroundings detection system has an interval measuring system configured to ascertain an interval to an object in front, the interval measuring system comprising a radar interval measuring system, and a second surroundings detection system comprising a camera configured to unambiguously identify the vehicle in front and/or of the object class of the vehicle in front.

15. The method of claim 1 , wherein, if a reliable target detection situation is detected, a display signal is output to the driver for information regarding an active AEBS following mode upon identification of an emergency braking situation.

16. The method of claim 15 , wherein the emergency braking situation is identified if criticality criteria are fulfilled, and
wherein, if the criticality criteria are not fulfilled, a standard driving situation with the AEBS standby mode is present.

17. An emergency braking system for a subject vehicle, comprising:
a first surroundings detection system configured to detect front surroundings in front of the subject vehicle; and
a control device configured to receive measurement signals of the first surroundings detection system and to carry out the method of claim 1 .

18. The emergency braking system of claim 17 , wherein the first surroundings detection system comprises an interval measuring system comprising a radar device.

19. The emergency braking system of claim 17 , wherein the control device comprises an ACC control device configured to carry out adaptive cruise control.

Assignees

• Zf Cv Systems Hannover Gmbh
• Zf Cv Systems Europe Bv

Inventors

• Dieckmann Thomas
• Kallenbach Stephan

Classifications

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60T2210/32

  Vehicle surroundings · CPC title

• B60T2201/022

  Collision avoidance systems · CPC title

• B60T8/58

  responsive to speed and another condition or to plural speed conditions · CPC title

• B60T8/17

  Using electrical or electronic regulation means to control braking {(detecting or indicating faulty operation B60T8/885)} · CPC title