Method for determining autonomous emergency braking, method for performing the emergency braking, and control device for a driving-dynamics system
An emergency braking and dynamic technology, applied in the direction of automatic starting device, traffic control system, traffic control system of road vehicles, etc., can solve unreasonable problems
Active Publication Date: 2020-01-03
WABCO EURO BVBA SPRL
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[0008] However, in such cases where emergency braking is known as a temporal equation of motion and the duration for the warning phase is quoted before the braking process is initiated, the point in time for the introduction of the warning phase may be known too early.
But the early first point in time for introducing a warning phase may be unreasonable if necessary and prompts risky driver behavior, although this is not necessarily the case
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[0022] The autonomous vehicle (Ego-Fahrzeug) 1 is driving on the lane 3; the autonomous vehicle is, for example, in a first or current position x1, which is determined here by the front end of the autonomous vehicle 1, and The vehicle travels with its own driving speed v1 (first driving speed) and its own longitudinal acceleration a1 (first longitudinal acceleration). Here, according to figure 1 First, only movements in the longitudinal or x-direction are considered. An object 2 is located in front of the autonomous vehicle 1 , which can again be a vehicle, for example. The object 2 is at a second position x2 (object position), which is determined here by its position closest to the autonomous vehicle 1 , that is to say by the rear end of the object 2 , and with a second velocity v2 and The second longitudinal acceleration a2 travels. A longitudinal distance dx thus forms between the own position x1 (first position) and the second position x2.
[0023] The autonomous vehic...
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The invention relates to a method for determining autonomous emergency braking of an ego vehicle, the method comprising at least the following steps: capturing driving-dynamics variables of the ego vehicle and distance measurement signals and determining a longitudinal distance of the ego vehicle (1) from a front object (2), evaluating whether emergency braking should be initiated, and, if emergency braking should be initiated, determining a first starting point (t1) for the initiation of a warning phase (I), in which a warning signal is output without initiation of braking, a second startingpoint (t2) for the initiation of a subsequent partial-braking phase (II) with a lower partial-braking brake pressure (p_hc) and a third starting point (t3) for the initiation of a subsequent emergency-braking phase (III) with a higher emergency-braking brake pressure (p_aeb), wherein the following are used in the determination of the starting points (t1, t2, t3): a duration criterion having minimum durations of the warning phase (I) and / or of the partial-braking phase (II) and a dynamic criterion, which describes positions and / or velocities of the ego vehicle and of the object in the phases, wherein, in the dynamic criterion, motion equations of the ego vehicle and of the object in at least second order of time (t) are used and an emergency-braking acceleration in the emergency-braking phase (III) is used and at least in some situations a partial-braking acceleration in the partial-braking phase (II) is used in order to take into consideration a braking effect in the partial-braking phase (II).
Description
technical field [0001] The invention relates to a method for learning autonomous emergency braking, a method for executing autonomous emergency braking, and a control for a driving dynamics system of an autonomous vehicle (Eigenfahrzeug) for detecting and implementing such autonomous emergency braking device. Background technique [0002] Such a method and such a control device are known, for example, from EP 2 814 704 B1. Autonomous emergency braking is used, in particular, to recognize an emergency braking situation and initiate a braking process autonomously, that is to say autonomously, when a driving state variable and further measured variables are known, in particular a distance measurement to an object ahead. For this purpose, for example, the control unit of the driving dynamics system can output an external brake signal (XBR) to the brake control unit, so that the brake control unit outputs the brake signal to the wheel brakes. Furthermore, such driving dynamics ...
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Patent Timeline
Login to View More IPC IPC(8): B60T7/22B60T8/1755B60W30/16G08G1/16
CPCB60T7/22B60T8/17558B60W30/16B60T2201/022B60T8/1755G08G1/166B60T7/12B60W30/09
Inventor 吕迪格·迈耶
Owner WABCO EURO BVBA SPRL