Method for braking vehicle, emergency braking system and vehicle

Abstract

A method for braking a vehicle (1) comprises the following steps: detecting an object; determining whether a collision is about to occur or likely to occur; if the object is considered as a first target object related to the collision, successively initiating a warning to a driver of the vehicle; initiating partial braking with the partial braking request; and initiating a full braking with an emergency braking request to initiate an emergency braking process, in which during the emergency braking, if the object becomes independent of the collision, the haptic warning phase is suspended if activated or the emergency braking phase is activated, and if it is determined that the collision is about to occur or likely to occur, the haptic warning phase is suspended if the object is not activated or the emergency braking phase is suspended if it is determined that the collision is about to occur or likely to occur. If the partial braking request or the emergency braking request is reduced during an additional ramp-down phase, the emergency braking process is resumed by a braking request that is dependent on a collision correlation, and / or a warning time that has elapsed during the emergency braking process, and / or a predetermined warning threshold.

Description

Background Art

[0001] In a traditional emergency braking system (AEBS - Advanced Emergency Braking System), the sensor system senses the surrounding environment in front of the vehicle, and the control algorithm within the AEBS control unit monitors whether there is a possibility of the vehicle colliding with any other vehicle on the road. If there is a target object on the road, where the target object is an object related to a collision, i.e., a collision between the vehicle and the target object is about to occur or may occur, then the emergency braking process is triggered. As part of the emergency braking process, the emergency braking system reacts in a phased manner: it first warns the driver (the first warning phase), then applies limited or partial braking (the haptic warning phase) to reduce the severity of the situation, and then applies full braking (the emergency braking phase). Before the emergency braking system can request full braking during the emergency braking phase, a minimum warning and limited braking time (warning threshold) are required. This phased approach is needed to inform the driver of the vehicle about the potential collision risk (the first warning phase), thus avoiding the risk of an unreasonable rear - end collision with the following traffic (the haptic warning phase). In some countries, certification also mandates the use of a phased approach.

[0002] During this emergency braking process, if the (first) target object or the vehicle changes lanes, the emergency braking process will be aborted because the (first) target object is not in the path of the vehicle. If, after changing lanes, a new second target object appears on the road, which is also related to a collision, the traditional emergency braking system will trigger a second emergency braking process, and this process needs to follow the phased approach again: the first warning, the haptic warning of partial braking, and full braking, again taking into account the minimum warning and limited braking time (warning threshold), and the process will start over. Due to this method, it is difficult to avoid colliding with the newly - appeared target object.

[0003] For example, emergency braking systems known in the art are described in DE 10 2007 060 862 B4, EP 2 595 135 A1, US 2011178710 A1, where in these documents, the phased approach itself does not depend on the existing target object and is not intended to change the target object during emergency braking. It is more inclined to use information about the possibility of bypassing the target object to adapt the time of the emergency braking process. Summary of the Invention

[0004] The present invention relates to a method for braking a vehicle, especially within an advanced emergency braking system (AEBS), comprising the following steps: Detecting objects in the surrounding environment of the vehicle, for example using a sensor system and / or an object recognition unit; Determine whether a collision between the vehicle and the detected object is about to occur or is likely to occur, and in the case where a collision is about to occur or is likely to occur, regard the detected object as a first target object related to the collision; If the object is regarded as a first target object related to the collision, start or trigger an emergency braking process by successively or sequentially performing the following steps: - Start warning the driver of the vehicle in a first warning stage; - In a haptic warning stage, start partial braking of the vehicle with a predetermined, constant or continuously increasing partial braking request; and then - In an emergency braking stage, start full braking of the vehicle with a predetermined emergency braking request; Wherein, during the emergency braking process, continuously determine whether the first target object is still related to the collision, for example based on the sensor signals of the sensor system, and if the first target object becomes irrelevant to the collision during the execution of the emergency braking process, meaning that the collision between the vehicle and the first target object is not about to occur or is less likely to occur again, the haptic warning stage if it is activated or the emergency braking stage if it is activated is aborted, wherein - The partial braking request after the haptic warning stage is aborted, if it is activated, or - The emergency braking request after the emergency braking stage is aborted, if it is activated, Is continuously (constantly) reduced to a ramp-down request, such as -1 m / s², in an additional ramp-down stage, such that especially when or after a predetermined ramp-down time has elapsed after the start of the ramp-down stage, and / or by considering a predetermined braking gradient, the ramp-down braking request is reached; Wherein, during the ramp-down stage, continuously determine whether a collision between the vehicle and the detected object in the surrounding environment is about to occur or is likely to occur, and in the case where a collision is about to occur or is likely to occur, the detected object is regarded as a second target object related to the collision, Wherein, in the case where the object is regarded as a second target object related to the collision, resume the emergency braking process by starting braking of the vehicle with a braking request according to the following factors: - The collision relevance of the second target object, and / or - The warning time that has elapsed during the emergency braking process, and / or - A predetermined warning threshold.

[0005] The present invention also relates to an emergency braking system configured to execute the method according to the present invention, and a vehicle including the emergency braking system.

[0006] Advantageously, by using this method, a faster and stronger reaction can be achieved on the second target object, thereby improving the performance of the advanced emergency braking system. In particular, this is because once the first target object becomes collision-irrelevant and triggers the ramp-down phase, the warning time is not reset after the haptic warning phase or the emergency warning phase, if activated, is aborted. In this case, not resetting the warning time after the corresponding phase is aborted means that the counting of the warning time continues during the next ramp-down phase, or stops / pauses during the next ramp-down phase and resumes again when a second target object related to the collision is detected.

[0007] As during the ramp-down phase, the vehicle is still decelerating, the brake lights are enabled, and the legally required warning to the following traffic is still in progress, although there is no target object at that time. Therefore, during this ramp-down phase, when a second target object related to the collision occurs subsequently, the warning time does not start counting from zero, thus allowing a faster reaction to the second target object. Preferably, if no additional second target object appears during the ramp-down phase, the emergency braking process has just ended or been aborted, for example, once the ramp-down braking request is reached, for example, after a predetermined ramp-down time has elapsed.

[0008] In a preferred embodiment, if the object is regarded as a second target object related to the collision, the emergency braking process is resumed, either independently of or depending on the collision relevance of the second target object, - during the haptic warning phase, by initiating partial braking of the vehicle with a predetermined, constant, or continuously increasing partial braking request, or - during the emergency braking phase, by initiating full braking of the vehicle with a predetermined emergency braking request, which depends on the warning time elapsed during the emergency braking process and / or a predetermined warning threshold. Accordingly, the corresponding phase that was aborted previously is resumed.

[0009] Otherwise, if the object is regarded as a second target object related to the collision, braking is initiated with a braking request, thereby resuming the emergency braking process, the stronger the braking request, the higher the collision relevance of the second target object, and the weaker the braking request, the lower the collision relevance of the second target object. Therefore, the braking request is set according to the collision relevance verified by the urgency or the corresponding situation, in order to provide high comfort for the driver.

[0010] In a preferred embodiment, the warning time is counted during the following periods: - the first warning phase, and - During the haptic warning phase and / or during partial braking of the vehicle initiated by a predefined, constant or continuously increasing partial braking request, wherein the emergency braking phase and / or full braking of the vehicle with a predefined emergency braking request is only initiated after the warning time has exceeded a predefined warning threshold. This is to meet legal requirements, wherein the counting of the warning time is extended to subsequent emergency braking events or subsequent occurrences of the target object, in order to improve the performance of the AEBS in the above-mentioned manner (the counting continues during the ramp-down phase, or stops / pauses during the ramp-down phase).

[0011] In a preferred embodiment, the additional ramp-down phase is only triggered if an object is detected in the vehicle's surroundings that can in principle be regarded as a target object relevant to a collision, such as a foreign vehicle in the same lane as the vehicle and / or in an adjacent lane. Thus, it can be further checked whether a ramp-down phase is really required. Thus, in a preferred embodiment, if no object that can in principle be regarded as a target object relevant to a collision is detected in the vehicle's surroundings, the emergency braking process is aborted. Thus, the ramp-down phase can be omitted and any emergency braking action can be restricted to the time range when it is really needed.

[0012] In an alternative embodiment, the ramp-down phase is always triggered after each stage of the abort cascade, taking into account that the first target object may become relevant to a collision again.

[0013] In a preferred embodiment, if the vehicle and / or the first target object is changing lanes, it is determined that the first target object has become irrelevant to a collision during the execution of the emergency braking process. This is a preferred driving situation, where the target object may change, and the emergency braking system cannot always fully consider what will happen in the future. Therefore, the method according to the invention can be used to optimize the transition of the target object during such a lane change event.

[0014] In a preferred embodiment, the warning threshold is between 1.4 s and 1.5 s. This provides the driver of the vehicle with sufficient time, for example, to manually override, as well as to warn subsequent traffic, in order to react fully to the emergency situation.

[0015] In a preferred embodiment, the predefined partial braking request corresponds to a vehicle acceleration of approximately -3 m / s² or more. This is an advantageous value, with only a slight braking request, the brake lights can be activated and the driver and subsequent traffic can be warned.

[0016] In a preferred embodiment, the predetermined emergency braking request for full braking corresponds to a vehicle acceleration of about -4 m / s² or less, in particular -6 m / s² or less. This is an advantageous value in order to brake the vehicle as quickly as possible in an emergency.

[0017] In a preferred embodiment, the coasting braking request corresponds at least to a vehicle acceleration of -1 m / s², and / or the predetermined coasting time is set at least to 0.5 s. Within these values, an extended coasting phase can be provided in order to keep the brake lights enabled for a certain time and to provide sufficient time to detect another second target object without unduly extending the coasting phase after the first target object has become collision-irrelevant. The value of the coasting braking request and the value of the coasting time are exemplary values that can be selected or adjusted based on a preferred trade-off between the performance of the AEBS system in detecting new target objects during the coasting phase and the performance of the AEBS system in keeping the coasting phase minimal to avoid extended unintended braking in case of false events. Thus, these values can be parameterized according to the configuration of the AEBS system, such as the characteristics of the sensor system, etc.

[0018] In a preferred embodiment, the predetermined coasting braking request is set in such a way that the brake lights of the vehicle remain enabled during the coasting phase. This allows the warning time to be extended to the appearance of the second target object, as described above.

[0019] Additional features of the present disclosure will become apparent to those skilled in the art after considering the embodiments shown in the figures. Description of the Drawings

[0020] Figure 1 is a schematic view of a vehicle including an emergency braking system;

[0021] Figure 2A is an AEBS cascade of a conventional emergency braking system;

[0022] Figure 2B 、 Figure 2C 、 Figure 2D is an embodiment of an AEBS cascade according to the present invention;

[0023] Figure 3A 、 Figure 3B shows a traffic situation of the change correlation of the target object; and

[0024] Figure 4 is a flowchart of a method according to the present invention. Detailed Description

[0025] Figure 1Vehicle 1 is schematically shown, which has an emergency braking system 2 (AEBS advanced emergency braking system) controlled by an AEBS control unit 3 to prevent collisions or mitigate the consequences of collisions. The AEBS control unit 3 is electrically connected to an actuator controller 4 that controls an actuator 5 of the vehicle 1. For example, a steering controller 4a that controls the steering system 5a of the vehicle 1, a braking controller 4b that controls the braking system 5b of the vehicle 1, and a drive controller 4c that controls the drive system 5c (including the engine and transmission) of the vehicle 1. The AEBS control unit 3 is configured to generate a control signal based on information provided by a sensor system 6 and provide the control signal to the corresponding actuator controller 4. The sensor system 6 includes, for example, a camera 6a and / or a radar sensor 6b and / or a UV sensor 6c and / or a LIDAR sensor 6d, etc. In addition, the AEBS control unit 3 is configured to receive and process signals from the corresponding actuator controller 4 to assist the driver.

[0026] The sensor system 6 is configured to capture the surrounding environment 10 of the vehicle 1 and provide a sensor signal S6 that characterizes the surrounding environment 10. The object recognition unit 7, for example, as an integral part of the AEBS control unit 3 or the sensor system 6 or as an external unit, is capable of identifying an object O in the surrounding environment 10 by processing the sensor signal S6. The object O is, for example, another foreign vehicle 50. Then the AEBS control unit 3 can assist the driver based on the appearance of a target object TO related to a collision. The target object is, for example, a foreign vehicle 50 on the same lane L or an adjacent lane Ln, and it can start or trigger an emergency braking process P, especially by outputting a specific braking request zReq.

[0027] To determine whether the emergency braking process P must be triggered, the AEBS control unit 3 can evaluate whether a collision is about to occur or likely to occur via an AEBS algorithm A, for example, based on the vehicle acceleration a1 or the vehicle speed v1 or the relative speed vrel or relative acceleration between the vehicle 1 and the detected object O. In the case of an impending or likely collision, the corresponding object O then becomes the target object TO, and the AEBS control unit 3 starts the emergency braking process P, taking into account Figure 2A the so-called AEBS cascade K shown to assist the driver, especially to help the driver brake the vehicle 1 as quickly as possible.

[0028] The AEBS cascade K includes: a first warning stage K1 that triggers visual (display) and / or acoustic (warning signal) warnings; a haptic warning stage K2 that triggers partial braking of the vehicle 1 with a predetermined, constant, or continuously increasing partial braking request zPReq, for example, reducing the vehicle acceleration a1 to -3 m / s²; and an emergency braking stage K3, in particular according to a predetermined emergency braking request zNReq, for example, reducing the vehicle acceleration to -4 m / s² and particularly to -6 m / s². Advantageously, this AEBS cascade K allows the driver of the vehicle 1 to manually override the activation of emergency braking during the first warning stage K1 or the haptic warning stage K2 in the event of error detection, and at least during the haptic warning stage K2, to ensure the reaction time of the following traffic with the activated brake lights during partial braking of the vehicle 1. In some embodiments, during the first warning stage K1, the brake can already be precharged with a pressurized fluid, such as a gas or a liquid, to reduce the dead time of the brake by reducing the air space between the brake pads and the disk / drum of the brake, without actually causing additional deceleration, and in addition, the brake lights can also be activated during the first warning stage K1.

[0029] According to functional safety, the warning time tW (visual / auditory K1, haptic K2) before the emergency braking process P can enter the emergency braking stage K3 must exceed a predetermined warning threshold tT, where, by way of example, a warning threshold tT of 1.4 s to 1.5 s is set. If the brake lights have already been activated (by precharging the brakes) during the first warning stage K1, the warning time tW is counted from the start of the emergency braking process P, while if the brake lights have not been activated before the start of the haptic warning stage K2 (for example, the brakes have not been precharged), the warning time tW will be counted from the start of the haptic warning stage K2 to ensure the safety of the rear vehicle.

[0030] Once the emergency braking process P enters the haptic warning stage K2 of the AEBS cascade K, the AEBS control unit 3 outputs a predetermined partial braking request zPReq to the brake actuator controller 4b via the brake control signal S4b to actuate the respective brakes of the brake system 5b according to the partial braking request zPReq. To ensure that the partial braking request zPReq can be achieved as soon as possible during the haptic warning stage K2, as described above, the brake can be precharged with a pressurized fluid during the first warning stage K1. Once the emergency braking process P enters the emergency braking stage K3, the AEBS control unit 3 outputs a predetermined emergency braking request zNReq to the brake actuator controller 4b via the brake control signal S4b to actuate the respective brakes of the brake system 5b according to the emergency braking request zNReq.

[0031] In a conventional emergency braking system, if the detected first target object TO1 is no longer relevant to a collision, for example, because vehicle 1 or the corresponding first target object TO1 is changing lanes L, Ln or accelerating / decelerating, the emergency braking process P or the AEBS cascade K is aborted in the corresponding stages K1, K2, K3, thereby suddenly reducing the braking request zReq output via the brake control signal S4b. In a conventional emergency braking system, after such an abort of the emergency braking process P and when a new target object TO that is about to or may collide with it is subsequently detected, the AEBS control unit 3 starts a new emergency braking process again taking into account the above AEBS cascade K, where the warning time tW (visual / auditory K1, tactile K2) starts counting from zero again within this new emergency braking process P.

[0032] In the above case, the new collision-relevant target object TO can again be the first target object TO1, for example, after a decision to cancel or revoke a lane change process or to decelerate again, or it can be a second target object TO2 that appears in front of vehicle 1. After the first target object TO1 moves into an adjacent lane Ln (see Figure 3A ), or after vehicle 1 itself moves into an adjacent lane Ln that already contains the second target object TO2 (see Figure 3B ), the second target object TO2 may appear in front of vehicle 1.

[0033] According to the present invention, the emergency braking process P is adjusted in its AEBS cascade K as follows to optimize the transition in the case of two consecutive different collision-relevant target objects TO; TO1, TO2;

[0034] Once it is determined, as shown in Figure 2B during the tactile warning stage K2 or as shown in Figure 2C or Figure 2D during the emergency braking stage K3 that the initial or first target object TO1 is no longer relevant to a collision, a ramp-down stage K4 is added to the AEBS cascade K, which is intended to reduce the braking request zReq continuously rather than suddenly. Thus, during the ramp-down stage K4, the partial braking request zPReq (if the tactile warning stage K2 is activated, as shown in Figure 2B ) or the emergency braking request zNReq (if the emergency braking stage K3 is activated, as shown in Figure 2C , Figure 2D ) is reduced to a predetermined ramp-down braking request zRReq, for example, reduced to zRReq = -1 m / s², such that the braking request zReq during the ramp-down stage K4 is still large enough to continuously activate the brake lights to warn the following traffic in the surroundings 10.

[0035] Therefore, the AEBS control unit 3 outputs a predetermined deceleration braking request zRReq to the brake actuator controller 4b via the brake control signal S4b to actuate the respective brakes of the braking system 5b, so as to reach the predetermined deceleration braking request zRReq, such as -1 m / s², within a predetermined deceleration time t4 of, for example, 0.5 s. Thus, the partial braking request zPReq or the emergency braking request zNReq is reduced to the predetermined deceleration braking request zRReq within the predetermined deceleration time t4, resulting in a specific braking gradient dz. In other embodiments, the combination of the braking gradient dz and the deceleration output time t4 can be pre-defined or pre-determined by the AEBS control unit 3, such that once the deceleration output time t4, for example, 0.5 s has elapsed, the deceleration output braking request zRReq of approximately -1 m / s² is automatically reached.

[0036] The values of the deceleration braking request zRReq and the deceleration time t4 are exemplary values, which can be selected or adjusted according to the preferred trade-off between the performance of the AEBS system in detecting a new target object TO during the deceleration phase K4 (as described below) and the performance of the AEBS system in keeping the deceleration phase K4 - minimal to avoid prolonging the unexpected braking in case of an error event.

[0037] Therefore, during the deceleration phase K4, since the deceleration braking request zRReq within the ongoing emergency braking process P is high enough to ensure the perception of the surrounding environment 10 and / or the subsequent traffic, the warning time tW is not reset to zero. In this case, after the termination of the corresponding phases K2, K3, the fact that the warning time tW is not reset to zero means that the counting of the warning time tW continues during the deceleration phase K4, or stops or pauses during the deceleration phase K4 and continues when a new target object TO is detected, as described below.

[0038] In a preferred embodiment of the present invention, the deceleration phase K4 is only added if other objects O that can in principle be defined as target objects TO (current or future) related to a collision can be identified in the surrounding environment 10 by, for example, the object recognition unit 7. Such other objects are, for example, foreign vehicles 50 in the same lane L and / or adjacent lanes Ln. If no such object O can be identified, the emergency braking process P can end immediately when the initial or first target object TO1 becomes collision-irrelevant. However, in an alternative embodiment, the deceleration phase K4 can be added regardless of whether other objects O can be identified in the surrounding environment 10 when the first target object TO1 becomes collision-irrelevant.

[0039] If any new collision-related target object TO appears in front of the vehicle 1 during the additional ramp-down phase K4, such as the second target object TO2 as described above, the AEBS control unit 3 increases the braking request zReq again, taking into account the predetermined warning threshold tT, as follows:

[0040] If, according to Figure 2B the illustrative embodiment, the second target object TO2 appears before the predetermined warning threshold tT has elapsed, where the warning time tW is counted from the still ongoing emergency braking process P (continued or paused during the ramp-down phase K4), the AEBS control unit 3 outputs again a predetermined partial braking request zPReq to resume the previously aborted haptic warning phase K2. Once the warning time tW exceeds the predetermined warning threshold tT, the AEBS control unit 3 outputs a predetermined emergency braking request zNReq in order to transition from the resumed haptic warning phase K2 to the emergency braking phase K3, as Figure 2B shown. In this way, due to the ramp-down phase K4, after the first target object TO1 has become collision-irrelevant, the warning time tW is not reset but extended to the period during which the second target object TO2 becomes collision-related, thus still ensuring the reaction time of the following traffic when continuously activating the brake lights to brake the vehicle 1.

[0041] If, according to Figure 2C the illustrative embodiment, the second target object TO2 appears after the predetermined warning threshold tT has elapsed, where the warning time tW is counted from the still ongoing emergency braking process P (continued or paused during the ramp-down phase K4), the AEBS control unit 3 outputs again a predetermined emergency braking request zNReq in order to resume the previously aborted emergency braking phase K3. In this way, due to the ramp-down phase K4, after the first target object TO1 has become collision-irrelevant, the warning time tW is not reset but extended to the period during which the second target object TO2 becomes collision-related, thus still ensuring the reaction time of the following traffic when continuously activating the brake lights to brake the vehicle 1.

[0042] If, according to Figure 2DIn an illustrative embodiment, the second target object TO2 appears after a predetermined warning threshold tT has elapsed, where the warning time tW is counted starting from the ongoing emergency braking process P (continuing or pausing during the ramp-down phase K4). Then, the AEBS control unit 3 outputs a braking request zReq again, which in this case depends on the collision relevance R of the second target object TO1. Thus, if the collision relevance R is not high enough to reconfirm the activation of the predetermined emergency braking request zNReq, the previously aborted emergency braking phase K3 does not necessarily resume. Therefore, the collision relevance R of the second target object TO2 is determined by common methods, in particular including the analysis of the relative motion (arel, vrel) of the second target object TO2 with respect to the vehicle 1.

[0043] Thus, as Figure 2D shown by the dashed or dotted lines in, the higher the collision relevance R of the second target object TO2, the stronger the braking request zReq is set, and the lower the collision relevance R, the weaker the braking request zReq is set. For example, if the predetermined partial braking request zPReq (dotted line) is set for a medium collision relevance R or a weak braking request zReq (dashed line), then at a low collision relevance R, it is set to at least pre-pressurize the fluid in the brake. Additionally, at a high collision relevance R, the predetermined emergency braking request zNReq can be set, as Figure 2C shown.

[0044] An exemplary embodiment of the method according to the invention is as shown in the flowchart of Figure 4 wherein in a first step ST1, the surroundings 10 are sensed by the sensor system 6, and wherein after a first target object TO1 related to a collision is detected in a second step ST2, for example, by the object recognition unit 7, in a third step ST3, the emergency braking process P is started or continued by processing the respective stages K1, K2, K3 of the AEBS cascade K, as described above. If in a fourth step ST4, it is determined that the first target object TO1 is no longer related to a collision (not collision-related), and (optionally) there is another object O in the surroundings 10 that may meet the criteria of a target object TO related to a collision, then in a fifth step ST5, the ramp-down phase K4 is started, gradually reducing the braking request zReq as described above, and the counting of the warning time tW is continued or paused. In particular, if no other object O is detected in the surroundings 10 of the vehicle 1 when the first target object TOA becomes not collision-related, the ramp-down phase K4 can (optionally) be omitted. In the case where the continuously determined first target object TO1 remains related to a collision, the emergency braking process P is continued using a phased method.

[0045] If, in the sixth step ST6, during the ramp-down phase K4 (i.e., before the ramp-down time t4 has elapsed and / or the ramp-down braking request zRReq has been reached), an object O detected in the surroundings 10 is classified as a second target object TO2 related to a collision, or if during the ramp-down phase K4 (i.e., before the ramp-down time t4 has elapsed and / or the ramp-down brake request zRReq has been reached), the first target object TO1 again becomes related to a collision, - if the predetermined warning threshold tT has not elapsed, the partial braking request zPReq is required, or - if the predetermined warning threshold tT has elapsed in the seventh step ST7, the emergency braking request zNReq is required. As Figure 2D shown, the braking request zReq after the ramp-down can also be set according to the collision relevance R with which the second target object TO2 or the first target object TO1 again becomes related to a collision.

[0046] If no target object TO related to a collision is detected in the sixth step ST6 during the ramp-down phase K4, after the ramp-down phase K4 is completed, i.e., after the predetermined ramp-down time t4 has elapsed and / or the predetermined ramp-down braking request zRReq has been reached, the emergency braking process P ends, for example, with an unactuated brake or without an additional braking request zReq.

[0047] Reference signs (as part of the description)

[0048] 1 vehicle

[0049] 2 emergency braking system

[0050] 3 AEBS control unit

[0051] 4 actuator controller

[0052] 4a steering controller

[0053] 4b brake controller

[0054] 4c drive controller

[0055] 5 actuator

[0056] 5a steering system

[0057] 5b brake system

[0058] 5c drive system

[0059] 6 sensor system

[0060] 6a camera

[0061] 6b radar sensor

[0062] 6c UV sensor

[0063] 6d LiDAR sensor

[0064] 7 Object recognition unit

[0065] 10 Surrounding environment

[0066] 50 Incoming vehicle

[0067] a1 Vehicle acceleration

[0068] arel Relative acceleration

[0069] AAEBS algorithm

[0070] Dz Braking gradient

[0071] KAEBS cascade

[0072] K1 First warning stage

[0073] K2 Tactile warning stage

[0074] K3 Emergency braking stage

[0075] K4 Slope descent stage

[0076] L Lane

[0077] Ln Adjacent lane

[0078] O Object

[0079] P Emergency braking process

[0080] R Collision correlation

[0081] S6 Sensor signal

[0082] t4 Slope descent time

[0083] TO Target object

[0084] TO1 First target object

[0085] TO2 Second target object

[0086] t Warning threshold

[0087] tW Warning time

[0088] v1 Vehicle speed

[0089] vrel Relative speed

[0090] zReq Braking request

[0091] zNReq Emergency braking request

[0092] zPReq Partial braking request

[0093] zRReq Ramp-down braking request

[0094] Steps of the ST1, ST2, ST3, ST4, ST5, ST6, ST7 methods.

Claims

1. A method for braking a vehicle (1), comprising the steps of: Detecting an object (O) in the surroundings (10) of the vehicle (1); Determining whether a collision between the vehicle (1) and the detected object (O) is imminent or likely to occur, wherein, in the case where a collision is imminent or likely to occur, the detected object (O) is regarded as a first target object (TO1) related to the collision; If the object (O) is regarded as the first target object (TO1) related to the collision, an emergency braking process (P) is initiated or triggered by successively performing the following steps: - In a first warning phase (K1), initiating a warning to the driver of the vehicle (1); - In a haptic warning phase (K2), initiating partial braking of the vehicle (1) with a predetermined, constant or continuously increasing partial braking request (zPReq); And then - In an emergency braking phase (K3), initiating full braking of the vehicle (1) with a predetermined emergency braking request (zNReq); Wherein, during the emergency braking process (P), it is continuously determined whether the first target object (TO1) is still related to the collision, and if, during the execution of the emergency braking process (P), the first target object (TO2) becomes unrelated to the collision, which means that the collision between the vehicle (1) and the first target object (TO1) is not imminent or no longer likely to occur, then the haptic warning phase (K2) is aborted if it is activated or the emergency braking phase (K3) is aborted if it is activated, wherein - The partial braking request (zPReq) after the haptic warning phase (K2) is aborted, or - The emergency braking request (zNReq) after the emergency braking phase (K3) is aborted, Is reduced in an additional ramp-down phase (K4); Wherein, during the ramp-down phase (K4), it is continuously determined whether a collision between the vehicle (1) and the detected object (O) in the surroundings (10) is imminent or likely to occur, wherein, in the case where a collision is imminent or likely to occur, the detected object (O) is regarded as a second target object (TO2) related to the collision, Wherein, in the case where the object (O) is regarded as the second target object (TO2) related to the collision, the emergency braking process (P) is resumed by initiating braking of the vehicle (1) with a braking request (zReq) that depends on the following factors: - The collision relevance (R) of the second target object (TO2), and / or - The warning time (tW) that has elapsed during the emergency braking process (P), and / or - A predetermined warning threshold (tT).

2. The method according to claim 1, wherein In the case where the object (O) is regarded as the second target object (TO2) related to the collision, independently of or depending on the collision relevance (R) of the second target object (TO2), - During the haptic warning phase (K2), partial braking of the vehicle (1) is initiated by means of a predefined, constant or continuously increasing partial braking request (zPReq), or - During the emergency braking phase (K3), full braking of the vehicle (1) is initiated by means of a predefined emergency braking request (zNReq), depending on the warning time (tW) elapsed during the emergency braking process (P) and / or the predefined warning threshold (tT), to resume the emergency braking process (P).

3. The method according to claim 1, wherein In the case where the object (O) is regarded as a second target object (TO2) related to a collision, the emergency braking process (P) is resumed by initiating braking with a braking request (zReq), the stronger the braking request (zReq), the higher the collision relevance (R) of the second target object (TO2), and the weaker the braking request (zReq), the lower the collision relevance (R) of the second target object (TO2).

4. The method according to claim 1, wherein During the downhill phase (K4), depending on a predefined downhill time (t4) and / or a predefined braking gradient (dz), the partial braking request (zPReq) or the emergency braking request (zNReq) is reduced to a downhill braking request (zRReq).

5. The method according to claim 4, wherein, The downhill braking request (zRReq) corresponds at least to a vehicle acceleration (a1) of -1 m / s², and / or the downhill time (t4) is set to at least 0.5 s.

6. The method according to claim 4, wherein The downhill braking request (zRReq) is set such that the brake lights of the vehicle (1) are continuously enabled during the downhill phase (K4).

7. The method according to claim 4, wherein Once the downhill braking request (zRReq) is reached, the downhill phase (K4) is completed.

8. The method according to claim 1, wherein, The warning time (tW) is counted during: - the first warning phase (K1), and - the haptic warning phase (K2), and / or during the initiation of partial braking of the vehicle (1) with a predefined, constant or continuously increasing partial braking request (zPReq), wherein the emergency braking phase (K3) and / or the full braking of the vehicle (1) with a predefined emergency braking request (zNReq) is only initiated after the warning time (tW) has exceeded a predefined warning threshold (tT).

9. The method according to claim 8, wherein Once the first target object (TO1) becomes collision - irrelevant and the downhill phase (K4) is triggered, the warning time (tW) is not reset after the deactivation of the active haptic warning phase (K2) or the active emergency warning phase (K3).

10. The method according to claim 9, wherein, The counting of the warning time (tW) continues or pauses during the downhill phase (K4).

11. The method according to claim 1, wherein The additional downhill phase (K4) is only triggered in the case where an object (O) that can in principle be regarded as a target object (TO) related to a collision is detected in the surroundings (10) of the vehicle (1), such as an alien vehicle (50) in the same lane (L) as the vehicle (1) and / or in an adjacent lane (Ln).

12. The method according to claim 11, wherein, If no object (O) that can in principle be regarded as a target object (TO) related to a collision is detected in the surroundings (10) of the vehicle (1), the emergency braking process (P) is aborted.

13. The method according to claim 1, wherein Regardless of whether an object (O) that can in principle be regarded as a target object (TO) related to a collision is detected in the surroundings (10) of the vehicle (1), the additional deceleration phase (K4) is triggered, where the object (O) is, for example, an external vehicle (50) on the same lane (L) as the vehicle (1) and / or on an adjacent lane (Ln).

14. The method according to claim 1, wherein, If the vehicle (1) and / or the first target object (TO1) is changing lanes, it is determined that during the execution of the emergency braking process (K3), the first target object (TO1) becomes irrelevant to a collision.

15. The method according to claim 1, wherein the warning threshold (tT) is in particular between 1.4 s and 1.5 s.

16. The method according to claim 1, wherein, The predefined partial braking request (zPReq) corresponds to a vehicle acceleration (a1) of -3 m / s² or more.

17. The method according to claim 1, wherein, The predefined emergency braking request (zNReq) for full braking corresponds to a vehicle acceleration (a1) of -4 m / s² or less, in particular -6 m / s².

18. The method according to claim 1, wherein, If it is determined that a collision between the vehicle (1) and the detected object (O) in the surroundings (10) will not occur imminently or is unlikely to occur, and / or no object (O) is regarded as a second target object (TO2), the emergency braking process (P) is aborted after completion of the deceleration phase (K4).

19. An emergency braking system (2) for a vehicle (1), in particular an emergency braking system (2) for a vehicle (1) for performing the method according to any one of the preceding claims, comprising: - a sensor system (6) configured to capture the surroundings (10) of the vehicle (1) and provide sensor signals (S6) characterizing the surroundings (10), - an object recognition unit (7) configured to identify and detect an object (O) in the surroundings (10) by processing the sensor signals (S6), - an AEBS control unit (3) having an AEBS algorithm (A) for determining whether a collision between the vehicle (1) and the detected object (O) will occur imminently or is likely to occur, wherein, in the case where a collision will occur imminently or is likely to occur, the detected object (O) is regarded as a first target object (TO1) related to a collision; wherein the AEBS control unit (3) or the AEBS algorithm (A) is further configured to: If the object (O) is regarded as a first target object (TO1) related to a collision, start or trigger an emergency braking process (P) by successively performing the following steps: - In a first warning phase (K1), initiate a warning to the driver of the vehicle (1); - During the haptic warning phase (K2), initiate partial braking of the vehicle (1) with a predefined, constant or continuously increasing partial braking request (zPReq); and subsequently - During the emergency braking phase (K3), initiate full braking of the vehicle (1) with a predefined emergency braking request (zNReq); wherein the AEBS control unit (3) or the AEBS algorithm (A) is further configured to: - Continuously determine during the emergency braking process (P) whether the first target object (TO1) is still relevant to a collision, and - If the first target object (TO1) becomes irrelevant to a collision during the execution of the emergency braking process (P), which means that a collision between the vehicle (1) and the first target object (TO1) is not about to occur or is no longer possible, then abort the haptic warning phase (K2) if it is active or abort the emergency braking phase (K3) if it is active, and - Reduce the partial braking request (zPReq) after the haptic warning phase (K2) is aborted, or - Reduce the emergency braking request (zNReq) in an additional ramp-down phase (K4) after the emergency braking phase (K3) is aborted; wherein the AEBS control unit (3) or the AEBS algorithm (A) is further configured to continuously determine during the ramp-down phase (K4) whether a collision between the vehicle (1) and a detected object (O) in the surrounding environment (10) is about to occur or is possible, wherein, in the case where a collision is about to occur or is possible, the detected object (O) is regarded as a second target object (TO2) relevant to the collision, wherein, in the case where the object (O) is regarded as a second target object (TO2) relevant to the collision, the AEBS control unit (3) or the AEBS algorithm (A) is configured to resume the emergency braking process (P) by initiating braking of the vehicle (1) with a braking request (zReq) that depends on the following factors: - The collision relevance (R) of the second target object (TO2), and / or - The warning time (tW) elapsed during the emergency braking process (P), and / or - A predefined warning threshold (tT).

20. A vehicle (1) comprising the emergency braking system (2) according to claim 19.

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