Method and device for carrying out collision-avoiding measures

Patent metadata

Field	Value
Publication number	US-9896073-B2
Application number	US-201414898253-A
Country	US
Kind code	B2
Filing date	Jun 6, 2014
Priority date	Jun 14, 2013
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

The invention relates to a method for carrying out one or more collision-avoiding measures of a vehicle, in particular a motor vehicle. In the method, the positions of static and dynamic objects 11 are detected in a step 10, and one or more trajectories 21 which avoid collisions with the detected objects 11 are determined for the vehicle in a step 20. According to the invention, a danger value 23 for the determined trajectory 21 or for each of the determined trajectories 21, is determined continuously or periodically in a further step 22. This danger value 23 constitutes a measure for the forces which act on the vehicle when the respective trajectory 21 is passed through. The collision-avoiding measures are then carried out in a step 27 if the determined danger value 23, or the determined danger values 23, is/are above a selected or predefined threshold value 26.
In addition, the invention relates to a device for carrying out the method.

First claim

The invention claimed is:

1. A method for carrying out one or more collision-avoiding measures in a motor vehicle, comprising:
detecting positions of static and dynamic objects;
determining at least one trajectory which avoid collisions of the vehicle with the detected objects;
determining a danger value for each of the determined at least one trajectory,
wherein in order to determine the danger value on the basis of the current speed and acceleration of the vehicle, a maximum lateral acceleration of the vehicle is determined when the at least one trajectory is passed through, the lateral acceleration being evaluated using a probability value, wherein the probability value constitutes a measure of whether the driver would carry out a manoeuver with a lateral acceleration which is comparable with the determined lateral acceleration, wherein the evaluated lateral acceleration then corresponds to the at least one danger value,
wherein the danger value is determined continuously or periodically and is a measure of one or more forces which would act on the vehicle when the at least one trajectory is passed through; and

carrying out the collision-avoiding measures in the event of at least one of the determined at least one danger values being above a selected or predefined threshold value.

2. The method according to claim 1 , wherein a period of time up to which a collision with the closest object located in the travel path of the vehicle is avoided by braking the vehicle is determined, and a first collision-avoiding measure is carried out when the period of time undershoots a time threshold value or a plurality of collision-avoiding measures are respectively carried out when one of a plurality of time threshold values are undershot before the at least one danger value is above the threshold value.

3. The method according to claim 1 , wherein in order to determine the at least one trajectory for the vehicle, the positions of dynamic objects are predicted continuously or periodically, and the at least one trajectory are adapted to the predicted positions continuously or periodically.

4. The method according to claim 1 , wherein in the event of a plurality of trajectories being determined, the danger value of that trajectory with the lowest determined maximum lateral acceleration is selected and the collision-avoiding measures are carried out if the selected danger value is above the selected or predefined threshold value.

5. The method according to claim 1 , wherein one of the collision-avoiding measures comprises the braking of the vehicle.

6. The method according to claim 5 , wherein the braking takes place by means of intervals with the same or different braking forces or by means of a continuously applied braking force with constant increasing or decreasing braking force.

7. The method according to claim 1 , wherein one of the collision-avoiding measures comprises signalling a signal in the passenger compartment of the vehicle.

8. The method according to claim 7 , wherein the signalling of the signal comprises displaying a visual signal, playing back a sound or a sound sequence and/or the haptic signalling for the driver of the vehicle.

9. The method according to claim 1 , wherein the execution of a collision-avoiding measure is interrupted by the intervention of the driver in the control, in particular by means of manual braking.

10. The method according to claim 1 , wherein the threshold value is defined by making a selection from a plurality of predefined threshold values, before the method is carried out.

11. A device for carrying out one or more collision-avoiding measure in a motor vehicle, the device comprising:
a laser scanner configured to detect positions of static and dynamic objects;
an electronic accessory device for assisting a driver of the motor vehicle, the electronic accessory device configured to:
determine at least one trajectory which avoid collisions of the vehicle with the detected objects,
determine a danger value for each of the determined at least one trajectory,
wherein in order to determine the danger value on the bases of the current speed and acceleration of the vehicle, a maximum lateral acceleration of the vehicle is determined when the at least one trajectory is passed through, the lateral acceleration being evaluated using a probability value, wherein the probability value constitutes a measure of whether the driver would carry out a manoeuver with a lateral acceleration which is comparable with the determined lateral acceleration, wherein the evaluated lateral acceleration then corresponds to the at least one danger value,
wherein the danger value is determined continuously or periodically and is a measure of one or more forces which would act on the vehicle when the at least one trajectory is passed through, and

carry out the collision-avoiding measures in the event of at least one of the determined at least one danger values being above a selected or predefined threshold value, comprising activating at least one selected from a group consisting of a visual warning, an acoustic warning and a braking of the vehicle.

Assignees

• Valeo Schalter & Sensoren Gmbh

Inventors

• Spencer Martin
• Koehler Michael

Classifications

• B60T7/12

  for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60T7/22 Primary

  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

• B60W2520/105

  Longitudinal acceleration · CPC title

• B60T8/17558

  specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09) · CPC title