Method for ascertaining autonomous emergency braking, method for performing 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: 2021-12-07
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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[0068] 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.
[0069] The autonomous vehic...
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The invention relates to a method for learning autonomous emergency braking of an autonomous vehicle, the method having at least the following steps: receiving driving dynamics variables and distance measurement signals of the autonomous vehicle; and knowing the distance between the autonomous vehicle (1) and an object in front The longitudinal distance of (2); assess whether to introduce emergency braking, if will introduce emergency braking, then know - for the introduction of the first starting point (t1) of the warning phase (I) of output warning signal without introducing braking, - For the introduction of the subsequent partial braking - the second starting point (t2) of the partial braking phase (II) with a lower brake pressure (p_hc), and - for the introduction of the subsequent higher emergency braking - the third starting point (t3) of the emergency braking phase (III) of the brake pressure (p_aeb), wherein reference is made when the starting point (t1, t2, t3) is known - with the warning phase (I) and / or a duration criterion for the minimum duration of the partial braking phase (II), and - a dynamic criterion describing the position and / or velocity of the autonomous vehicle and object during the phase, where, in the dynamic criterion, the autonomous vehicle and object are referenced An at least second-order equation of motion with respect to time (t) and references the emergency braking acceleration in the emergency braking phase (III) and, at least in some cases, the partial braking acceleration in the partial braking phase (II) , to account for the braking action 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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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