Method and device for evasive steering assistance for a motor vehicle

Abstract

Evasive steering assistance procedure for a motor vehicle in which - a threatened or imminent collision of the motor vehicle is detected (101), - the driver is advised to steer the vehicle onto an evasive trajectory to avoid the collision (102), - detects whether the driver initiates an evasive maneuver (103), and if the driver initiates an evasive maneuver, driver-independent execution of a steering or braking intervention to support guidance on the evasive trajectory (104), wherein, after the detection of an impending or imminent collision, an evasive trajectory to avoid the collision is determined, characterized in that, after determining the evasive trajectory, the recognition threshold for an evasive intention detection of the driver in the direction of the evasive recommendation is reduced or characterized by the fact that, after determining the evasive trajectory, the detection threshold for recognizing the driver's intention to evade is increased in the opposite direction to the evasive recommendation.

Description

State of the art

[0001] From DE 10 2004 008 894 A1, a safety system for a means of transport and a related method are known. To further develop a safety system, in particular an accident avoidance system, for a means of transport, especially a motor vehicle, which has at least one steering system and at least one braking system, in such a way that an evasive maneuver initiated by the driver of the means of transport when approaching an obstacle is supported both by the device and by the method, and thus an accident by collision is prevented, it is proposed that the evaluation unit determines at least one driving variant, in particular at least one evasive trajectory and / or at least one automatic emergency braking procedure, from the data and information, and that when or after initiating a driving maneuver, in particular an emergency braking maneuver or an evasive maneuver, by the driver of the means of transport, the safety systemin particular the evaluation unit specifies, supports and / or suggests this driving maneuver in an optimized form, especially in the form of an optimal evasive trajectory or automatic emergency braking.

[0002] German patent application DE 10 2010 001 313 A1 discloses a method for providing evasive assistance to a motor vehicle, in which an impending or imminent collision of the motor vehicle is detected, the driver is given a hint to steer the vehicle onto an evasive trajectory that avoids the collision, it is detected whether the driver initiates an evasive maneuver, and if the driver initiates an evasive maneuver, a steering or braking intervention supporting the steering onto the evasive trajectory is carried out independently of the driver, wherein an impending or imminent collision is determined after the detection of an impending or imminent collision.

[0003] The German patent application DE 10 2011080789 A1 discloses a method for providing evasive assistance to a motor vehicle, in which an impending or imminent collision of the motor vehicle is detected, it is detected whether the driver initiates an evasive maneuver, and if the driver initiates an evasive maneuver, a steering or braking intervention is carried out independently of the driver to support the guidance on the evasive trajectory.

[0004] The publication DE 10 2009 020 649 A1 discloses a method and a device for collision avoidance for a vehicle by swerving to avoid an obstacle. Disclosure of the invention

[0005] The invention relates to a method for providing evasive steering support for a motor vehicle, in which - a threatened or imminent collision of the motor vehicle is detected, - the driver is given a hint or a recommendation to steer the vehicle onto an evasive trajectory that avoids the collision, - it detects whether the driver complies with the warning or the evasive maneuver recommendation, i.e., initiates an evasive maneuver, and - if the driver initiates an evasive maneuver, driver-independent execution of a steering or braking intervention to support the guidance on the evasive trajectory.

[0006] According to the invention, after the detection of an impending or imminent collision, an evasive trajectory to avoid the collision is determined.

[0007] According to an alternative version of the invention, after determining the evasive trajectory, the detection threshold for recognizing the driver's evasive intention is reduced in the direction of the evasive recommendation. This ensures that the driver's evasive intention is recognized very quickly and thus evasive assistance can be provided very quickly.

[0008] According to another alternative of the invention, after determining the evasive trajectory, the detection threshold for recognizing the driver's intention to evade is increased in the opposite direction to the evasive recommendation.

[0009] This method according to the invention ensures that evasive steering assistance for the driver only occurs if the driver complies with the instruction or the evasive steering recommendation.

[0010] An advantageous embodiment of the invention is characterized in that the intensity of the driver-independent steering or braking intervention depends on the time interval between the issuance of the driver warning and the initiation of the evasive maneuver by the driver. This allows, for example, consideration of the fact that in the case of a very early driver reaction, i.e., a short interval, only slight evasive assistance is sufficient.

[0011] An advantageous embodiment of the invention is characterized in that the intensity of the driver-independent steering or braking intervention depends on whether the driver steers in the direction of the evasive trajectory or against the direction of the evasive trajectory.

[0012] An advantageous embodiment of the invention is characterized in that, during the driver-independent steering intervention, an additional driver-independent steering torque is superimposed on the steering torque specified by the driver.

[0013] An advantageous embodiment of the invention is characterized in that the driver-independent steering intervention is a steering intervention at the rear axle.

[0014] An advantageous embodiment of the invention is characterized in that the driver-independent braking intervention is an asymmetrical braking intervention with respect to the left and right sides of the vehicle.

[0015] The invention further comprises a device containing means configured for carrying out the aforementioned methods. This device is, in particular, a control unit equipped with the program code for carrying out the methods according to the invention.

[0016] The drawing includes Fig. 1.

[0017] Fig. Figure 1 shows the process of one embodiment of the method according to the invention.

[0018] The invention can be described in the following process steps. In particular, step 3 is optional and can also be carried out at a different time depending on the system.

[0019] Step 1: An impending collision is detected using environmental sensor methods.

[0020] Step 2: The driver is given an evasive maneuver recommendation. This can be done in the following ways, for example: - haptic recommendation, e.g., through steering torque - visual recommendation, e.g. via a head-up display - acoustic recommendation, e.g., through a warning tone

[0021] Step 3: System parameters of the active fallback support are adjusted. This may include, for example, the following measures: - Reduction of the detection threshold for evasive intent detection in the direction of the evasive recommendation - Increasing the detection threshold for evasive intention detection against the direction of the evasive recommendation - Parameterization of the support intensity according to the duration of the action recommendation until the start of the driver-initiated evasive maneuver. - Parameterization of the support intensity according to the direction of the driver-initiated evasive maneuver, depending on whether the driver steers in the recommended direction or against the recommended direction.

[0022] Step 4: Implementation of active evasive steering support along an evasive trajectory after detection of an evasive intention, for example through the following interactions: - Steering torque superposition - Steering angle overlay or use of, for example, rear axle steering - Asymmetrical braking intervention to support the lateral guidance of the vehicle.

[0023] The process of one embodiment of the method according to the invention is described in Fig.Figure 1 illustrates this. After the method is started in block 100, block 101 checks whether a collision of the motor vehicle is imminent or threatened. If not, the process returns to block 100. If, however, a collision is imminent, block 102 then instructs the driver to steer the vehicle onto an evasive trajectory to avoid the collision; that is, the driver is also made aware of the imminent collision. Block 103 then checks whether the driver initiates an evasive maneuver. If not, the process returns to block 100. If, however, the driver initiates an evasive maneuver, block 104 initiates a driver-independent braking and / or steering intervention to support the driver's evasive maneuver. The method according to the invention ends in block 105.

Claims

[1] Evasive steering assist method for a motor vehicle in which - a threatened or imminent collision of the motor vehicle is detected (101), - the driver is advised to steer the vehicle onto an evasive trajectory to avoid the collision (102), - detects whether the driver initiates an evasive maneuver (103), and if the driver initiates an evasive maneuver, driver-independent execution of a steering or braking intervention to support guidance on the evasive trajectory (104), wherein, after the detection of an impending or imminent collision, an evasive trajectory to avoid the collision is determined, characterized by , that after determining the evasive trajectory, a reduction of the detection threshold for an evasive intention detection of the driver in the direction of the evasive recommendation takes place or characterized by, that after determining the evasive trajectory, the detection threshold for recognizing the driver's intention to evade is increased in the opposite direction to the evasive recommendation. [2] Method according to claim 1, characterized by , that the intensity of the driver-independent steering or braking intervention depends on the time interval between the issuance of the driver instruction and the initiation of the evasive maneuver by the driver. [3] Method according to claim 1, characterized by , that the intensity of the driver-independent steering or braking intervention depends on whether the driver steers in the direction of the evasive trajectory or against the direction of the evasive trajectory. [4] Method according to claim 1, characterized by , that in the case of driver-independent steering intervention, an additional driver-independent steering torque is superimposed on the steering torque specified by the driver. [5] Method according to claim 1, characterized bythat the driver-independent steering intervention is a steering intervention at the rear axle. [6] Method according to claim 1, characterized by , that the driver-independent braking intervention is an asymmetrical braking intervention with respect to the left and right sides of the vehicle. [7] Device comprising means designed to carry out the foregoing procedures.

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