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WO2013010620A2 - Procédé et dispositif de commande d'un frein electronique de vehicule - Google Patents

Procédé et dispositif de commande d'un frein electronique de vehicule Download PDF

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Publication number
WO2013010620A2
WO2013010620A2 PCT/EP2012/002669 EP2012002669W WO2013010620A2 WO 2013010620 A2 WO2013010620 A2 WO 2013010620A2 EP 2012002669 W EP2012002669 W EP 2012002669W WO 2013010620 A2 WO2013010620 A2 WO 2013010620A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
brake
detected
cornering
condition
Prior art date
Application number
PCT/EP2012/002669
Other languages
German (de)
English (en)
Other versions
WO2013010620A3 (fr
Inventor
Sebastian Busch
Johanna Hacker
Benjamin Maus
Nicole Graulich
Original Assignee
Volkswagen Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Priority to CN201290000676.5U priority Critical patent/CN203996186U/zh
Publication of WO2013010620A2 publication Critical patent/WO2013010620A2/fr
Publication of WO2013010620A3 publication Critical patent/WO2013010620A3/fr

Links

Classifications

    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • 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
    • 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
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • 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
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • 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
    • B60T2210/20—Road shapes
    • B60T2210/24—Curve radius
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0071—Controller overrides driver automatically
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • 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
    • 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
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go

Definitions

  • the present invention relates to a method and apparatus for automatically controlling a brake of a vehicle.
  • EP 0 919 444 B1 discloses a brake force control device which, when emergency braking is detected, reduces a brake fluid pressure of the rear wheels when a
  • Curve property value exceeds a predetermined value.
  • DE 24 45 624 A1 describes an auxiliary brake system, in which additional brake elements in response to a turn are actuated.
  • collision warning and emergency braking systems are becoming increasingly widespread in the automotive sector.
  • These systems use different sensors (eg radar, laser, camera) to detect drivers driving ahead (cars, trucks, cyclists, pedestrians, etc.) or certain driving conditions. If, for example, a driving condition is detected with the aid of these sensors, in which the driver of the vehicle can no longer avoid an accident himself, then an automatic deceleration of the vehicle is triggered. This automatically caused delay serves to reduce the collision speed and thus the extent of the collision, whereby in exceptional cases the collision can also be completely avoided.
  • sensors eg radar, laser, camera
  • the present invention has the object, the automatic operation of a brake of a vehicle with respect to a subsequent traffic safer to design, as is the case in the prior art. According to the invention, this object is achieved by a method for controlling a brake of a vehicle according to claim 1, by a device for controlling a brake
  • a method for controlling a brake of a vehicle is provided.
  • a state of the vehicle is detected, which is a
  • Vehicle is detected or not, driven.
  • the present inventors have recognized that it is precisely during cornering of the vehicle that an automatically initiated braking maneuver of the vehicle can lead to a collision with a following vehicle, which travels behind the vehicle. This is due to the fact, for example, that the driver of the following vehicle due to the cornering insufficiently applied the brake of his vehicle (so that too little delay to avoid the collision results), as he fears the
  • the brake of the vehicle is automatically operated differently when cornering than when driving straight ahead of the vehicle.
  • the brake when driving straight ahead automatically is controlled with a certain brake pressure, the brake is at a. Cornering automatically not necessarily driven with this particular brake pressure.
  • a cornering of the vehicle is present, for example, when the vehicle is currently traveling in a curve whose curve radius is greater than a predetermined threshold.
  • this threshold value can be dependent on the vehicle speed in such a way that the higher the speed of the vehicle, the lower the threshold value.
  • the brake can be automatically controlled so that a deceleration of the vehicle is not above a predetermined threshold.
  • This threshold value can be selected, for example, such that a driver of a following vehicle is also able to avoid a collision by a manual actuation of the brake of his vehicle.
  • Curve radius are controlled.
  • the brake could be automatically controlled in such a way that the deceleration of the vehicle achieved thereby is the lower, the smaller the detected radius of curvature.
  • the automatically caused delay can be adjusted with the help of a characteristic curve, which the
  • This variant is the simplest to implement and completely prevents a cornering vehicle from colliding with a subsequent vehicle due to an automatic brake application.
  • the driver must himself (manually) actuate the brake when cornering.
  • the turning of the vehicle and / or the curve radius of the driven curve can be determined as follows:
  • Vehicle is evaluated and thus decided whether the vehicle is in a cornering or not.
  • this curve also determines the radius of the curve. This evaluation can be done on the basis of a characteristic of the steering wheel angle above the vehicle speed.
  • a yaw rate of the vehicle is evaluated. For example, it can be decided at the current value of the yaw rate whether the vehicle is cornering. At the current value of the yaw rate or the course of the yaw rate over time, the radius of the driven curve can also be determined.
  • Vehicle speed is kept constant, a deceleration of this preceding vehicle is detected.
  • a device for controlling a brake of a vehicle comprises first sensor means, second sensor means and a controller.
  • the device detects a state of the vehicle which indicates an automatic activation of the brake in order to increase a braking effect of the brake.
  • the device detects a cornering of the vehicle. Depending on whether or not the second sensor means detects cornering, the device actuates the brake when the first sensor means has detected the condition.
  • the advantages of the device according to the invention essentially correspond to the advantages of the method according to the invention, which have been carried out in detail in advance, so that a repetition is dispensed with here.
  • the present invention provides a vehicle comprising a brake and a device according to the invention.
  • the present invention is suitable for motor vehicles in which a brake of the vehicle is automatically operated.
  • the present invention is not limited to this preferred application, since the present invention is also applicable to ships, aircraft and track-bound or track-guided vehicles.
  • the single FIGURE schematically shows a vehicle 10, which comprises a device 20 and a brake 4.
  • the device 20 in turn comprises first sensor means 1 and second sensor means 2, which are connected to a controller 3 of the device 20.
  • first sensor means 1 which may include, for example, a camera
  • second sensor means 2 which, for example, a yaw rate sensor from the ESP

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé et un dispositif (20) pour assurer la commande d'un frein (4) de véhicule (10). Selon ledit procédé, un état du véhicule (10) est détecté, ledit état indiquant un actionnement automatique du frein (4), afin d'intensifier une action dudit frein (4), Un passage de conduite en courbe dudit véhicule (10) est également détecté. Lors d'une détection dudit état, le frein (4) du véhicule (10) est activé automatiquement en fonction de la détection ou de la non détection du passage de conduite en courbe.
PCT/EP2012/002669 2011-07-15 2012-06-25 Procédé et dispositif de commande d'un frein electronique de vehicule WO2013010620A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201290000676.5U CN203996186U (zh) 2011-07-15 2012-06-25 用于控制车辆的制动器的装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011107271.7A DE102011107271B4 (de) 2011-07-15 2011-07-15 Verfahren und Vorrichtung zur Steuerung einer Bremse eines Fahrzeugs sowie Fahrzeug
DE102011107271.7 2011-07-15

Publications (2)

Publication Number Publication Date
WO2013010620A2 true WO2013010620A2 (fr) 2013-01-24
WO2013010620A3 WO2013010620A3 (fr) 2013-06-20

Family

ID=46507952

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/002669 WO2013010620A2 (fr) 2011-07-15 2012-06-25 Procédé et dispositif de commande d'un frein electronique de vehicule

Country Status (3)

Country Link
CN (1) CN203996186U (fr)
DE (1) DE102011107271B4 (fr)
WO (1) WO2013010620A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9067573B2 (en) * 2013-07-03 2015-06-30 Wabco Europe Bvba Method, system and device for controlling a vehicle brake system
DE102014010936B4 (de) 2014-07-28 2023-08-17 S.M.S, Smart Microwave Sensors Gmbh Vorrichtung zum Anordnen an einem Kraftfahrzeug
CN110386190A (zh) * 2018-04-20 2019-10-29 北京智行者科技有限公司 车辆控制方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2445624A1 (de) 1974-09-25 1976-04-15 Walter Rempp Zusatzbremsanlage fuer strassenfahrzeuge, insbesondere notbremsanlage
DE19732998A1 (de) 1997-07-31 1999-02-04 Itt Mfg Enterprises Inc Verfahren und Vorrichtung zur Erkennung einer Bremssituation
EP0919444B1 (fr) 1996-08-14 2003-05-02 Toyota Jidosha Kabushiki Kaisha Dispositif pour reguler la puissance de freinage

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JP3927265B2 (ja) * 1996-11-18 2007-06-06 トヨタ自動車株式会社 車両の自動制動制御装置
DE102004038734A1 (de) * 2004-08-10 2006-02-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Auslösung einer Notbremsung
DE102004057603A1 (de) * 2004-11-29 2006-04-20 Daimlerchrysler Ag Verfahren für ein Sicherheitssystem in einem Fahrzeug
DE102004059002A1 (de) * 2004-12-08 2006-06-14 Daimlerchrysler Ag Verfahren zur Anpassung von Eingriffsparametern eines Assistenzsystems eines Fahrzeuges
EP1901941B1 (fr) * 2005-07-12 2012-12-26 Daimler AG Procede et dispositif de commande d'un moyen de protection d'un passager
WO2007023667A1 (fr) * 2005-08-24 2007-03-01 Hino Motors, Ltd. Dispositif de commande de freinage automatique
DE102006036363A1 (de) * 2005-09-15 2007-04-05 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zum Prädizieren einer Bewegungstrajektorie
DE102005051805B3 (de) * 2005-10-27 2007-05-16 Daimler Chrysler Ag Verfahren zur Unterstützung eines Fahrers in Gefahrenbereichen
DE102005057251A1 (de) * 2005-11-29 2007-06-06 Daimlerchrysler Ag Verfahren zum automatischen Aus- und Wiedereinschalten einer Fahrassistenzvorrichtung
DE102005059688A1 (de) * 2005-12-14 2007-06-21 Daimlerchrysler Ag Kraftfahrzeug mit einer Auffahrwarnvorrichtung
DE102008011128B4 (de) * 2008-02-26 2019-06-06 Volkswagen Ag Fahrassistenzsteuereinheit, Fahrassistenzsystem und Assistenzverfahren zum Unterstützen eines kollisionsfreien Führen eines Kraftfahrzeugs
DE102009027379A1 (de) * 2009-07-01 2011-01-05 Robert Bosch Gmbh Fahrerassistenzsystem
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Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2445624A1 (de) 1974-09-25 1976-04-15 Walter Rempp Zusatzbremsanlage fuer strassenfahrzeuge, insbesondere notbremsanlage
EP0919444B1 (fr) 1996-08-14 2003-05-02 Toyota Jidosha Kabushiki Kaisha Dispositif pour reguler la puissance de freinage
DE19732998A1 (de) 1997-07-31 1999-02-04 Itt Mfg Enterprises Inc Verfahren und Vorrichtung zur Erkennung einer Bremssituation

Also Published As

Publication number Publication date
CN203996186U (zh) 2014-12-10
WO2013010620A3 (fr) 2013-06-20
DE102011107271B4 (de) 2016-01-28
DE102011107271A1 (de) 2013-01-17

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