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1. EP3371015 - A CONTROL SYSTEM AND METHOD FOR A VEHICLE COMPRISING AN AUTONOMOUS EMERGENCY BRAKING SYSTEM

Office
European Patent Office
Application Number 16790606
Application Date 02.11.2016
Publication Number 3371015
Publication Date 12.09.2018
Publication Kind B1
IPC
B60T 8/17
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
B60T 7/22
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
7Brake-action initiating means
12for automatic initiation; for initiation not subject to will of driver or passenger
22initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle
B60T 8/1755
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
CPC
B60T 7/22
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
7Brake-action initiating means
12for automatic initiation; for initiation not subject to will of driver or passenger
22initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle ; , or by means of contactless obstacle detectors mounted on the vehicle
B60T 8/1708
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
1701Braking or traction control means specially adapted for particular types of vehicles
1708for lorries or tractor-trailer combinations
B60T 8/17558
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
17558specially adapted for collision avoidance or collision mitigation
B60T 2201/022
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
2201Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
02Active or adaptive cruise control system; Distance control
022Collision avoidance systems
B60T 2201/024
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
2201Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
02Active or adaptive cruise control system; Distance control
024Collision mitigation systems
B60T 2201/16
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
2201Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
16Curve braking control, e.g. turn control within ABS control algorithm
Applicants VOLVO TRUCK CORP
Inventors LAINE LEO
SANDBLOM FREDRIK
Designated States
Priority Data 2015075625 03.11.2015 EP
Title
(DE) STEUERUNGSSYSTEM UND -VERFAHREN FÜR EIN FAHRZEUG MIT EINEM AUTONOMEN NOTBREMSSYSTEM
(EN) A CONTROL SYSTEM AND METHOD FOR A VEHICLE COMPRISING AN AUTONOMOUS EMERGENCY BRAKING SYSTEM
(FR) SYSTÈME ET PROCÉDÉ DE COMMANDE POUR UN VÉHICULE COMPRENANT UN SYSTÈME DE FREINAGE D'URGENCE AUTONOME
Abstract
(EN) The invention relates to a control system (18) for a vehicle (10) comprising an autonomous emergency braking system (16), characterized in that the control system comprises: brake control means (26) adapted to apply a friction-estimating braking when the autonomous emergency braking system has initiated a possible intervention; brake force capacity estimation means (28) adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; road information means (30) adapted to obtain information about road curvature ahead of the vehicle; lateral tyre force prediction means (32) adapted to predict lateral tyre force needed during autonomous emergency braking based on the obtained information about road curvature; and brake strategy adaptation means (34) configured to adapt the brake strategy of the autonomous emergency braking system based on the estimated brake force capacity and the predicted lateral tyre force needed.
(FR) La présente invention concerne un système de commande (18) pour un véhicule (10) comprenant un système de freinage d'urgence autonome (16), caractérisé en ce que le système de commande comprend : des moyens de commande de freinage (26) adaptés pour appliquer un freinage d'estimation de frottement lorsque le système de freinage d'urgence autonome a initié une intervention possible; des moyens d'estimation de capacité de force de freinage (28) adaptés pour estimer la capacité de force de freinage du véhicule en fonction du patinage de roue longitudinale sur la base du freinage d'estimation de frottement appliqué; des moyens d'information routière (30) adaptés pour obtenir des informations sur la courbure de la route devant le véhicule; des moyens de prédiction de force latérale de pneumatique (32) adaptés pour prédire la force latérale de pneumatique nécessaire pendant un freinage d'urgence autonome sur la base des informations obtenues sur la courbure de la route; et des moyens d'adaptation de stratégie de freinage (34) configurés pour adapter la stratégie de freinage du système de freinage d'urgence autonome sur la base de la capacité de force de freinage estimée et de la force latérale de pneumatique prédite nécessaire.