Method for controlling a motor vehicle and vehicle assistance system of a motor vehicle
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- DR ING H C F PORSCHE AG
- Filing Date
- 2024-02-22
- Publication Date
- 2026-07-09
AI Technical Summary
Modern motor vehicles face significant intrusions and potential damage to high-voltage components when colliding with non-deformable pile obstacles like trees due to lack of energy-absorbing structures, leading to severe injuries and risks in battery-electric or hybrid-electric vehicles.
A vehicle assistance system using environmental sensors to detect pile obstacles and initiate targeted steering interventions to redirect the vehicle towards energy-absorbing structures, reducing collision severity and protecting high-voltage components.
Enhances energy dissipation into the vehicle's structure, minimizing occupant injuries and preventing direct impact on high-voltage components by changing the vehicle's trajectory to engage energy-absorbing elements during collisions.
Smart Images
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Abstract
Description
[0001] The present invention relates to a method for controlling a motor vehicle. Furthermore, the present invention relates to a vehicle assistance system of a motor vehicle.
[0002] Modern motor vehicles are often equipped with very different vehicle assistance systems, which serve the particular purpose of avoiding collisions between the motor vehicle and a collision obstacle as far as possible or, in the event of a collision that can no longer be avoided, at least mitigating the consequences of the collision.
[0003] Accident research shows that there are many collision opponents in road traffic. In addition to road users, which can include other motor vehicles, two-wheelers, and people, a large proportion of collision opponents are static objects that often do not deform upon impact and therefore do not yield. Studies have shown that pole obstacles, such as trees, are the second most common collision opponent. When a motor vehicle collides with a pole obstacle, large intrusions into the vehicle often occur, as energy-absorbing crash structures are not hit due to the often relatively small diameter of the pole obstacles. These intrusions, in turn, can result in serious injuries to the vehicle occupants.In the case of battery-electric or hybrid-electric vehicles, there is also a risk of damage to high-voltage components installed in the front of the vehicle.
[0004] DE 10 2016 216 738 A1 discloses a vehicle assistance system with environmental sensor means, wherein in the event of a collision during an overtaking or merging maneuver, a second collision, in particular with a tree, is to be prevented by a targeted automatic steering intervention.
[0005] DE 10 2014 204 168 A1 discloses a vehicle assistance system with environmental sensor means, whereby an impending collision with wildlife is to be prevented by targeted automatic steering intervention.
[0006] The invention aims to provide a method for controlling a motor vehicle and a vehicle assistance system which make it possible to mitigate the consequences of a frontal collision of the motor vehicle with a pole obstacle.
[0007] This object is achieved by a method for controlling a motor vehicle having the features of claim 1 and by a vehicle assistance system having the features of claim 7. The subclaims relate to advantageous developments of the invention.
[0008] In a method according to the invention for controlling a motor vehicle, it is provided that - environmental information in a field in front of the motor vehicle is continuously recorded by means of a number n ≥ 1 of environmental sensor means of the motor vehicle, - the environmental information detected by the environmental sensor means is evaluated by means of an evaluation and control device and it is checked whether there is a pole obstacle in front of the motor vehicle, and - an electrical steering pulse is initiated by the evaluation and control device if the evaluation and control device detects on the basis of the environmental information that a frontal collision of the motor vehicle with the pole obstacle is unavoidable or at least highly probable, wherein the electrical steering pulse acts at least on the front wheels on the front axle of the motor vehicle and wherein the strength of the electrical steering pulse is selected such that a trajectory of the motor vehicle is changed such that the pole obstacle strikes an energy-absorbing structure of the motor vehicle in the case of a frontal collision.
[0009] The method according to the invention advantageously enables greater energy dissipation into the energy-absorbing structure, such as a front longitudinal member, of the motor vehicle in the event of a head-on collision between the motor vehicle and the pole obstacle. The intrusion of the pole obstacle into the front of the motor vehicle is also reduced, so that the severity of injuries to the vehicle occupants, particularly with regard to the lower limbs, can also be advantageously reduced. If the motor vehicle is a battery-electric or hybrid-electric vehicle, this also results in improved high-voltage protection, since high-voltage components in the front of the motor vehicle are advantageously not directly impacted by the pole obstacle.
[0010] In one embodiment, it is proposed that the size of a pile diameter of the pile obstacle is determined by means of the evaluation and control device.
[0011] In one embodiment, it is provided that in order to detect whether a frontal collision of the motor vehicle with the pole obstacle is unavoidable or at least highly probable, a relative position of the motor vehicle to the pole obstacle is determined by means of the evaluation and control device from the environmental information detected by the environmental sensor means.
[0012] In one embodiment, it is possible for the evaluation and control device to use information about a current speed of the motor vehicle and a current steering angle of the front wheels to detect whether a frontal collision of the motor vehicle with the pole obstacle is highly probable or unavoidable.
[0013] In one embodiment, it is proposed that before initiating the electric steering intervention, a friction coefficient estimate of the road surface is carried out by the evaluation and control device.
[0014] In an advantageous further development, it is possible for the evaluation and control device to receive and evaluate measurement data from a seat occupancy sensor means of a passenger seat of the motor vehicle, wherein the electrical steering intervention takes place in such a way that a side of the motor vehicle facing away from the driver is selected for the collision with the pole obstacle if the passenger seat is not occupied.
[0015] A vehicle assistance system according to the invention of a motor vehicle comprises according to claim 7 - a number n ≥ 1 of environmental sensor means designed to continuously detect environmental information in a region in front of the motor vehicle, and - an evaluation and control device which is designed to evaluate the environmental information of the environmental sensor means and to check whether there is a pole obstacle in front of the motor vehicle, wherein the evaluation and control device is designed to initiate, if a frontal collision of the motor vehicle with the pole obstacle is unavoidable or at least highly probable, an electrical steering impulse acting on the front wheels of the motor vehicle, the strength of which is selected such that a trajectory of the motor vehicle can be changed such that the pole obstacle strikes an energy-absorbing structure of the motor vehicle in the case of a frontal collision.
[0016] In one embodiment, it is proposed that at least one of the environmental sensor means is designed as a camera device.
[0017] In one embodiment, it is possible that at least one of the environmental sensor means is non-camera-based and is designed in particular as a radar sensor means or as a lidar sensor means.
[0018] Preferably, at least one camera-based and at least one non-camera-based environmental sensor means can be used to detect the distance of the pole obstacle and advantageously enable a mutual plausibility check.
[0019] The vehicle assistance system is particularly designed to carry out a method according to one of claims 1 to 6.
[0020] Further features and advantages of the present invention will become clear from the following description of a preferred embodiment with reference to the accompanying drawings. Fig. 1 is a schematically highly simplified representation of a motor vehicle equipped with a vehicle assistance system according to an embodiment of the present invention, prior to a collision with a pole obstacle, Fig. 2 a schematically simplified representation of the motor vehicle according to Fig. 1 after the collision with the pole obstacle.
[0021] Fig. 1 and Fig. 2 each show a motor vehicle 1 with a body 2 and a supporting structure in a highly schematic, transparent top view. The supporting structure comprises a first lateral longitudinal member 3a, a second lateral longitudinal member 3b, which extend parallel to one another in the longitudinal direction (x-direction) of the motor vehicle 1, as well as a first (front) cross member 4a and a second (rear) cross member 4b, which extend parallel to one another in the transverse direction (y-direction) of the motor vehicle 1 and connect the two lateral longitudinal members 3a, 3b to one another. In addition, the supporting structure comprises two front longitudinal members 5a, 5b, which are connected to the first (front) cross member 4a and extend parallel to one another in the front-end region of the motor vehicle 1 in the direction of the front of the vehicle, as well as two rear longitudinal members 6a, 6b, which are connected to the second (rear) cross member 4b and extend parallel to one another in the direction of the rear of the vehicle.Furthermore, the motor vehicle 1 has two front wheels 7a, 7b and two rear wheels 8a, 8b. By means of a steering device not explicitly shown here,
[0022] Steering interventions are carried out which act on the two front wheels 7a, 7b on a front axle.
[0023] The motor vehicle 1 can in particular be a battery-electric or hybrid-electric vehicle which has several high-voltage components 9a, 9b, 9c, 9d. Fig. 1 and Fig. 2 schematically show possible positions of the high-voltage components 9a, 9b, 9c, 9d in the area of the front end of the motor vehicle 1.
[0024] The motor vehicle 1 further comprises a vehicle assistance system comprising a number n ≥ 1 of environmental sensor means 100, 101, which are configured to detect environmental information in the area in front of the motor vehicle 1. In the exemplary embodiment shown here, it should be assumed that the vehicle assistance system comprises two environmental sensor means 100, 101. A first environmental sensor means 100 is embodied as a camera device. The second environmental sensor means 101 is a non-camera-based environmental sensor means, in particular a radar or lidar sensor means.
[0025] The vehicle assistance system further comprises an evaluation and control device 102, which is designed to receive and evaluate the environmental information detected by the environmental sensor means 100, 101 during operation and, based thereon, to electrically control steering interventions that act on at least the two front wheels 7a, 7b on the front axle of the motor vehicle 1.
[0026] In Fig. 1 shows a pole obstacle 10 in front of the motor vehicle 1. Such a pole obstacle 10, which may be a tree, for example, has the property that it does not deform and thus does not yield upon impact with the motor vehicle 1. In the event of a head-on collision between the motor vehicle 1 and such a pole obstacle 10, severe intrusions into the motor vehicle 1 often occur, since energy-absorbing structures, such as the front longitudinal members 5a, 5b, are not hit due to the often relatively small diameters of such pole obstacles 10. These intrusions can, in turn, lead to serious injuries to the vehicle occupants. In motor vehicles 1 that are battery-electric or hybrid-electric, there is also a risk of damage to the high-voltage components 9a, 9b, 9c, 9d installed in the front of the motor vehicle 1.
[0027] To remedy the aforementioned problems, a method for controlling the motor vehicle 1 will be explained in more detail below, which makes it possible to at least mitigate the negative effects of a frontal collision of the motor vehicle 1 with the pole obstacle 10. The vehicle assistance system of the motor vehicle 1 is designed to carry out this method.
[0028] As already explained above, the environmental information acquired by the environmental sensor means 100, 101 installed in the motor vehicle 1, such as camera devices, radar sensors, lidar sensors, etc., can be evaluated by the evaluation and control device 102. This allows objects in front of the motor vehicle 1 to be detected. The evaluation and control device 102 is designed to classify a pole obstacle 10 detected in front of the motor vehicle 1 as such and, in particular, to determine or at least estimate the size of the pole diameter of the pole obstacle 10. Furthermore, the evaluation and control device 102 is designed to determine the relative position of the motor vehicle 1 to the pole 10 and to estimate or determine whether a head-on collision between the motor vehicle 1 and the pole obstacle 10 is highly likely or unavoidable.
[0029] If the evaluation and control device 102 detects, in particular also taking into account the current speed of the motor vehicle 1 and the current steering angle, that a frontal collision of the motor vehicle 1 with the pole 10 is highly probable or unavoidable, the evaluation and control device 102 initiates an electrical steering intervention in the steering device of the front wheels 7a, 7b, which aims to change the remaining trajectory of the motor vehicle 1 before the frontal collision in such a way that the pole obstacle 10 strikes an energy-absorbing structure of the motor vehicle 1, such as one of the two front longitudinal members 5a, 5b of the supporting structure, upon impact of the motor vehicle 1.Preferably, in preparation for the electric steering intervention, an estimation of the friction coefficient of the road surface is also carried out, which is also carried out by the evaluation and control device 102 by evaluating suitable sensor data, in particular sensor data of a vehicle dynamics control system.
[0030] In one embodiment, it is possible for the evaluation and control device 102 to receive and evaluate measurement data from a seat occupancy sensor of a passenger seat. If the seat occupancy detection indicates that the passenger seat is not occupied, the electrical steering intervention preferably takes place in such a way that the side facing away from the driver is selected for the collision with the pole obstacle 10. This situation is Fig.2. The energy input of the pole obstacle 10 takes place - viewed in the forward direction of travel of the (left-hand drive) motor vehicle 1 - into the right front longitudinal member 5b by generating an electrical steering impulse acting to the left on the two front wheels 7a, 7b.
[0031] The method presented here offers a number of advantages. In a head-on collision with the pole obstacle 10, greater energy dissipation is achieved through the energy-absorbing longitudinal members of the support structure, in particular through at least one of the two front longitudinal members 5a, 5b. The intrusion of the pole obstacle 10 into the front of the motor vehicle 1 is also reduced, so that the severity of injuries to the vehicle occupants, particularly with regard to the lower limbs, can be reduced. If the motor vehicle 1 is a battery-electric or hybrid-electric vehicle, this also results in increased high-voltage protection, since high-voltage components 9a, 9b, 9c, 9d in the front of the motor vehicle 1 are advantageously not directly impacted by the pole obstacle 10.
[0032] In an embodiment not explicitly shown here, it is possible for the motor vehicle 1 to also have a rear-axle steering system which, in the event of an impending collision with the pole obstacle 10, enables additional electrical steering interventions which are initiated by the evaluation and control device 102 and act on the two rear wheels 8a, 8b on the rear axle. QUOTES CONTAINED IN THE DESCRIPTION
[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature
[0000] DE 10 2016 216 738 A1
[0004] DE 10 2014 204 168 A1
[0005]
Claims
[1] Method for controlling a motor vehicle (1), wherein - by means of a number n ≥ 1 of environmental sensor means (100, 101) of the motor vehicle (1), environmental information in a field in front of the motor vehicle (1) is continuously recorded, - the environmental information detected by the environmental sensor means (100, 101) is evaluated by means of an evaluation and control device (102) and it is checked whether there is a pole obstacle (10) in front of the motor vehicle (1), and - an electrical steering pulse is initiated by the evaluation and control device (102) if the evaluation and control device (102) recognizes on the basis of the environmental information that a frontal collision of the motor vehicle (1) with the pole obstacle (10) is unavoidable or at least highly probable, wherein the electrical steering pulse acts at least on the front wheels (7a, 7b) on the front axle of the motor vehicle (1) and wherein the strength of the electrical steering pulse is selected such that a trajectory of the motor vehicle (1) is changed such that the pole obstacle (10) strikes an energy-absorbing structure of the motor vehicle (1) in the frontal collision. [2] Method according to claim 1, characterized by that the size of a pile diameter of the pile obstacle (10) is determined by means of the evaluation and control device (102). [3] Method according to one of claims 1 or 2, characterized byin that, in order to detect whether a frontal collision of the motor vehicle (1) with the pole obstacle (10) is unavoidable or at least highly probable, a relative position of the motor vehicle (1) to the pole obstacle (10) is determined by means of the evaluation and control device (102) from the environmental information detected by the environmental sensor means (100, 101). [4] Method according to one of claims 1 to 3, characterized by that the evaluation and control device (102) uses information about the current speed of the motor vehicle (1) and the current steering angle of the front wheels (7a, 7b) to detect whether a frontal collision of the motor vehicle (1) with the pole obstacle (10) is highly probable or unavoidable. [5] Method according to one of claims 1 to 4, characterized bythat before the electrical steering intervention, an estimate of the friction value of the road surface is carried out by the evaluation and control device (102). [6] Method according to one of claims 1 to 5, characterized by that the evaluation and control device (102) receives and evaluates measurement data from a seat occupancy sensor means of a passenger seat of the motor vehicle (1), wherein the electrical steering intervention takes place in such a way that the side of the motor vehicle (1) facing away from the driver is selected for the collision with the pole obstacle (10) if the passenger seat is not occupied. [7] Vehicle assistance system of a motor vehicle (1), comprising - a number n ≥ 1 of environmental sensor means (100, 101) which are designed to continuously detect environmental information in a front area of the motor vehicle (1), and - an evaluation and control device (102) which is designed to evaluate the environmental information of the environmental sensor means (100, 101) and to check whether a pole obstacle (10) is located in front of the motor vehicle (1), wherein the evaluation and control device (102) is designed, if a frontal collision of the motor vehicle (1) with the pole obstacle (10) is unavoidable or at least highly probable, to initiate an electrical steering impulse acting on the front wheels (7a, 7b) of the motor vehicle (1), the strength of which is selected such that a trajectory of the motor vehicle (1) can be changed such that the pole obstacle (10) strikes an energy-absorbing structure of the motor vehicle (1) in the case of a frontal collision. [8] Vehicle assistance system according to claim 7, characterized by that at least one of the environmental sensor means (100, 101) is designed as a camera device. [9] Vehicle assistance system according to one of claims 7 or 8, characterized by that at least one of the environmental sensor means (100, 101) is non-camera-based and is designed in particular as a radar sensor means or as a lidarsen sensor means.