• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of managing an automatic parking brake (13) of a vehicle having a hydraulic service brake (14) and an automatic parking brake (13), having an open position, a closed position, and an intermediate position between the open position and the closed position. According to the characterized method, a parking quantity representing a parking maneuver of the vehicle is determined and in response, the parking brake (13) is put in the intermediate position.
    公开号:FR3040671A1
    申请号:FR1658309
    申请日:2016-09-07
    公开日:2017-03-10
    发明作者:Frank Baehrle-Miller；Dieter Blattert
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a method for managing an automatic parking brake of a vehicle comprising a hydraulic service brake and an automatic parking brake, the parking brake having at least one open position, one closed position, and an intermediate position between the open position and the closed position. The invention also relates to a device for implementing such a method of controlling an automatic parking brake.
    State of the art
    According to the state of the art, DE 10 2013 218 401 A1 is known for example. This document describes a vehicle management method according to which the autonomous or partially autonomous operation of the vehicle which includes a service brake is activated. and a parking brake. According to this method, in response to a detected operating state of the vehicle, the parking brake is moved from its rest position to a certain operating position by determining this operating position of the parking brake in that the parking brake generates no braking effect or braking effect significantly less than total braking.
    The parking brakes are adjusted by releasing them, that is, by opening them so as not to react to the parking brake system. To do this, the following conditions must be met: (1) no force is generated, (2) the free interval must be cleared (it is regulated by the brake piston seals, the brake piston is thus slightly retracted in the brake caliper), (3) other effects such as the unbalance of the disc brake / disk stop must not generate braking torque, (4) there is a safety element to open further the brake locking mechanism.
    The above races must be covered during the next lock. In particular, strokes of (2/4) must define the entire range without any force being exerted. Compared to the global application for locking, it is also necessary between 1/2 to 2/3 of the total control time.
    Also known are systems allowing a storage maneuver in a parking space that is partially automated or fully automatic. At the end of the parking maneuver, we generally switch from hydraulic maintenance to (electro) mechanical maintenance. The transfer of the hydraulic holding or holding (electro) mechanics is relatively slow. The control sequence that is to say the control time required for an automatic electromechanical parking brake is generally 1 to 1.5 seconds. This time depends on the entire system, the setting position of the idle stroke (that is, the position of the actuator in the open state) and the voltage. Until the parking brake is fully and completely effective, the hydraulic system must be maintained, otherwise the vehicle may roll if it is a slope (up or down). The message back to the driver is also delayed in the same way.
    Description and advantages of the invention
    The object of the present invention is to overcome the drawbacks of the known solutions and relates to a method of managing an automatic parking brake of the type defined above, characterized in that a parking quantity representing a maneuver of parking the vehicle and in response to the determination of this parking quantity, the parking brake is placed in the intermediate position.
    This method according to the invention can significantly reduce the application time in a manner perceptible by the driver. The driver receives a feedback message much more quickly regarding the operation of the parking brake in the locking phase. In addition, the suitability for operation and serviceability of the parking brake actuators is sufficiently monitored in time.
    In other words, the method according to the invention for managing an automatic parking brake of a vehicle equipped with a hydraulic service brake and an automatic parking brake which can take an open position, a position closed, an intermediate position between the open position and the closed position are distinguished according to the invention in that a magnitude is determined representing the parking maneuver of the vehicle and in response to this magnitude, it puts the parking brake in the position intermediate.
    This means that in response to the detected parking condition, the parking brake is put in an intermediate position between the open position and the closed position. The parking maneuver is detected by means of a parking quantity and the response to the detection of the parking maneuver is established by putting the parking brake in a specific operating state between its rest state and its tight state. . The opening position of the parking brake is the rest position of the parking brake actuator. The closed position of the parking brake corresponds to the parking position of the brake, that is to say the position of the parking brake actuator which then applies the clamping force necessary to block the vehicle. For this, it generates in particular a clamping force to hold the vehicle, according to regulations, on a slope of 20% at most. To do this, you first need to overrun the idle stroke and the free interval of the parking brake to establish the necessary force. The intermediate position of the parking brake corresponds to the position of the parking brake actuator in which the latter is moved from the rest position to the parking position without nevertheless having reached this position. Controlling the parking brake and positioning the parking brake in the intermediate position makes it possible to significantly reduce the implementation time for the effective tightening tension, consecutive in a manner that is perceptible to the driver. This results in a gain of comfort and security. In addition, the pre-control of the parking brake and the physical passage of the parking brake into its intermediate position allow testing of the operational suitability and operating characteristics prior to the establishment of the force.
    A maneuver or parking operation is any type of storage maneuver in a parking space. This may be a predictable parking maneuver or a parking maneuver in progress. The identification of the parking maneuver is done by determining the parking size. The parking quantity corresponds to different sensor signal data. By collecting and using the data and signals, a parking quantity is obtained. This parking quantity indicates whether there is a parking maneuver or whether such a maneuver is foreseeable. The parking quantity is determined and the parking maneuver is detected in particular automatically. Likewise, the corresponding reactions, such as the parking brake control, can be automatically performed. The parking quantity is determined notably directly in the vehicle, for example with the aid of a computer architecture.
    According to a preferential development, the method is characterized in that to determine the parking size, it exploits: - the vehicle geographical position, and / or - the cartographic material in particular in connection with the geographical position of the vehicle.
    This means that depending on the geographical position of the vehicle, a parking quantity is determined. By having the parking size, we conclude to a parking maneuver. The geographical position can be determined, for example, in GPS coordinates or with other positioning data. In particular, by comparing the current position of the vehicle and the position data corresponding to the parking possibilities, a parking quantity is determined. The position data of the parking possibilities can be recorded on a storage medium in the vehicle and / or received via a radio link. The position data of the parking possibilities are, for example, parking spaces, basement garages, garage buildings as well as street parking possibilities.
    For example, using the GPS system and the map material available in the vehicle, one can know if the vehicle is not on a taxiway but on a parking spot. If the vehicle enters such a zone, the parking brake is activated to put the parking brake actuator in the intermediate position between the open position and the closed position. This significantly reduces the rest of the parking brake stroke to its closed position. If then, we are in a parking maneuver, the force will be established more quickly. The message back to the driver is thus significantly faster. One can also identify rather the unavailability of the system. In addition to the fixed preset position data for parking possibilities, there is also the possibility for the driver to memorize the position data himself with other parking possibilities which will then be taken into account. A kind of autoblo-quant system is thus envisaged by automatically storing position data and this is taken into account if the driver is repeatedly parked at different specific points, that is, if he does not store his position. vehicle on an unmarked location. This is for example an unspecified parking space (for example, private parking spaces) or reserved parking spaces such as parking spaces reserved for companies, recorded in cartographic material. Then, if with GPS the vehicle is detected and it is again in this zone, the parking brake is set to the intermediate position described above.
    Multiple sizes can also be used to define a parking space. This means that to detect a parking maneuver, several quantities are exploited. This advantageously leads to better security to determine the actual parking maneuver. In addition, it is also possible to make an advantageous assistance evaluation, of a first magnitude compared to another magnitude.
    According to another advantageous development of the method, in order to determine the parking quantity, the video data and / or ultrasound and / or radar system data and / or - functions of the vehicle, especially the activation of the vehicle, are exploited. assistance with the storage maneuver and / or an automatic storage maneuvering function.
    This means that, alternatively or in addition, information can be taken into account in determining the parking size and determining, i.e., evaluating a parking maneuver. For example, optical means of the vehicle may be used to determine the parking quantity. For this, the exploitation of the data of the camera of the vehicle makes it possible to note that the vehicle entered a garage. It is also possible to use ultrasound and / or radar systems advantageously. Besides the use of such environmental sensors, it is also possible to use the information of the vehicle itself, that is to say those of the driver. The driver can thus, for example, advantageously activate parking assistance as a sign that he is considering a parking maneuver. In the case of active assistance to a parking maneuver, for example, the vehicle environment is measured using different sensors to find an appropriate parking space. When the location is detected, the parking brake actuator is commanded to move to the intermediate position and thus significantly reduce the idle stroke of the parking brake actuator. This intermediate position is reached much faster than the time required for the vehicle to arrive at the stop in its final position. Following a request for parking, we will directly establish the force. The message back to the driver is much faster. Non-availability will also be displayed faster. In the case of the activation of an automatic parking function, it will be possible to describe practically how the maneuver will be assisted. The difference is, however, that the driver is no longer necessarily in the vehicle. The driver is, for example, within sight of the vehicle and remote control it. The remote control is only necessary for safety reasons and is intended to ensure the automatic parking maneuver. The longitudinal and transverse pipe of the vehicle is thus directly controlled by the vehicle.
    According to a preferred development, the method is characterized in that for determining the parking quantity, the following is used: - the speed profile of the vehicle and / or - the actuation of a turn signal and / or - the steering wheel and / or - the steering angle in the direction.
    This means that other variant or additional information can be taken into account to determine the parking size, the existence of a parking maneuver or to evaluate it. For example, it is advantageous to take account of the speed profile of the vehicle. Thus, it can be considered that the passing of a reference speed downwards is an indication of a parking maneuver.
    In particular, in combination with other factors, in particular those presented above, the taking into account of such information improves the probability of detection. In this sense, a parking maneuver will be recognized only if, for example, the vehicle has entered a parking lot and its speed has fallen below a reference speed. According to one variant, a parking maneuver is recognized only when the vehicle is traveling on a roadway with parking possibilities, has passed below a reference speed and has confirmed by the activation of the turn signal that it wishes to engage in a parking space. According to another alternative variant, it is only when a parking maneuver has been detected, and in addition, a steering deflection or wheel steering has been detected that the vehicle actually enters a parking space. .
    According to an advantageous development, the method is characterized in that the intermediate position is determined in that with respect to the open position of the parking brake, a lower control time is required to put the parking brake in its closed position.
    This means that in response to the detection of a parking state, the parking brake is put in an intermediate position between its open position and its closed position and this intermediate position is defined in that it requires in relation to the idle position, a lower control time to put the parking brake in the park position. This advantageously allows the new parking brake control, to establish more quickly the required clamping force. This is both an improvement in comfort due to the faster return message to the driver and also a gain in safety due to the faster application of the parking brake.
    To be complete, it should be noted that the term "determined so that" means that the parking brake is activated to have the effect described. More specifically, for example, the parking brake components are placed in a specific position by the control of the electromechanical actuator to achieve this purpose.
    According to a variant of the method, the intermediate position is determined in that a large part of the idle stroke of the parking brake with respect to the open position of the parking brake including the idle stroke has been completely passed.
    As indicated, first you have to overcome the no-load and the air gap before establishing a clamping force. Due to the described embodiment, the remaining time until the establishment of the clamping force will be reduced considerably. In connection with a parking request, the force will be established more quickly. The message back to the driver is thus faster. We can also identify earlier the unavailability of the system.
    According to another alternative development, the method is characterized in that the intermediate position is determined in that the parking brake generates a lower braking effect with respect to the closed position of the parking brake.
    This means that by determining the parking quantity representing the parking maneuver, the parking brake is put in an intermediate position between the open position and the closed position and this intermediate position is defined in that the wheel brake has already been engaged. At this moment, we meet a first force. The generated force also causes a first brake effect. The establishment of the force up to the brake effect is, however, reduced in relation to the final clamping force to be obtained and which is necessary to maintain the vehicle permanently. The low coefficient of friction will allow for example in case of failure of the service brake system, to continue to brake the vehicle.
    According to an advantageous development, the method is characterized in that the intermediate position is determined to generate a coefficient of friction with the parking brake while leaving the vehicle its ability to move.
    According to a preferred development, the method is characterized in that it verifies the operation of the parking brake while it is put in its intermediate position.
    As already described, for example, when a parking maneuver is detected, the parking brake is set to the intermediate position. This activates the actuators by the control to move the appropriate components of the parking brake. This makes it possible to check the operability or the operating capacity of the parking brake. The conventional controls generally concern only simple electrical controls such as, for example, a short circuit or a power cut. The disclosed method advantageously allows for greater control of the operability, for example, to determine whether the motor is running during control, etc.
    A possible development of the method is characterized in that when a stop request is detected at a standstill, the required braking force is applied directly by the parking brake.
    This means that without significant delay, the parking brake is activated to generate the clamping force. The blocking request is a request to block the vehicle, that is to say to stop the movement of the vehicle. In particular, it is a permanent blocking for an extended duration. By way of example, it will be possible to respond to a driver's parking brake request. This request will for example be recognized in that the driver actuates the parking brake button in the direction of closing.
    According to an advantageous development, the method is characterized in that by detecting a final parking position of the vehicle, the parking brake is directly activated and it is continued to be controlled until the parking brake is in the closed position.
    Compared with the previous development, the parking brake is activated when the final parking position is detected. This can be done for example automatically when the driver removes the ignition key and / or stops the engine and / or leaves the vehicle.
    One possible embodiment of the method is characterized in that at least two different control strategies of the parking brake are set, one of the control strategies of putting the parking brake directly in the closed position from its position. open position and the second control strategy is to additionally control an intermediate position; the choice of the control strategy is made according to the detection of the parking quantity representing the parking maneuver of the vehicle. The invention also relates to an apparatus for controlling a vehicle equipped with a hydraulic service brake and an automatic parking brake having at least one open position, a closed position, an intermediate position. This device is characterized in that the control device comprises means and is designed to apply the method as defined above.
    This means that the control device is designed so that in response to the detection of the storage situation, it puts the parking brake in an intermediate position between its open position and its closed position. The parking maneuver is recognized by means of the parking quantity and in response to the recognition of the parking maneuver, the parking brake is put into a specific operating state between the parking brake holding state and the tight state. Controlling the parking brake and positioning the parking brake in the intermediate position significantly reduces the time required for additional tightening in a manner noticeable to the driver, which results in a gain in comfort and safe. In addition, the pre-control of the parking brake and the physical process performed by the parking brake in its intermediate position make it possible to test the ability to operate prior to the establishment of the actual force. The invention also relates to an automatic parking brake of a vehicle equipped with a hydraulic service brake and an automatic parking brake having at least one open position, a closed position, an intermediate position. This brake is characterized in that it comprises means for applying the method as defined above
    This means that the parking brake is realized so that in response to the detection of the parking situation, it can be put in an intermediate position between the open position and the closed position. This results in the detection of a parking maneuver using a parking quantity and in response to this detection, the parking brake is brought into a characteristic operating state between its idle state and the tight state. parking. Controlling the parking brake and positioning the parking brake in the intermediate position makes it possible to considerably reduce the application time, if in fact there is then a tightening and this in a manner visible to the driver. This results in a gain in comfort and safety. In addition, the preliminary parking brake control and the physical passage of the parking brake in the intermediate position, to test the fitness for operation and the preparatory state prior to the establishment of the force itself.
    drawings
    The present invention will be described in more detail below, with the aid of an example of a method of managing an automatic parking brake according to the invention, represented in the appended drawings in which: FIG. a schematic sectional side view of a brake device comprising an automatic parking brake, motorized caliper type and - Figure 2 shows the characteristic shape of the intensity / force curve for a conventional control (top diagram ) and for a control according to the invention (bottom diagram) of a parking brake.
    Description of an embodiment
    Figure 1 is schematically a sectional side view of the brake device 1 of a vehicle. The brake device 1 comprises an automatic parking brake 13 (also called automatic parking brake or automatic parking brake and abbreviated brake APB); this parking brake is controlled by a neural action 2 (brake motor) which generates a braking force to block the vehicle. The actuator 2 of the parking brake 13 drives a pin 3 installed in the axial direction, in particular a threaded spindle 3. The end of the spindle 3 opposite to that of the actuator 2 is provided with a nut 4 which is applied against the brake piston 5 when the automatic parking brake 13 is in the tightened state. The parking brake 13 electromechanically transmits a force on the brake linings 8, 8 ', i.e. the brake disc 7. The nut is applied against the inner side of the brake piston 5 (again called back of the brake piston bottom or bottom of the inner piston). The nut 4 is displaced by the rotational movement of the actuator 2 and the rotational movement resulting from the pin 3 in the axial direction. The nut 4 and the brake piston 5 are mounted in a brake caliper 6 which overlaps the brake disc 7 in the manner of a gripper.
    A brake lining 8, 8 'faces both sides of the brake disc 7, during the clamping operation of the brake device 1 by the automatic parking brake 13, the electric motor (action-neur 2) rotates and drives the nut 4 of the spindle and the brake piston 5 in the axial direction with respect to the brake disk 7 to thereby generate a predetermined clamping force between the brake linings 8, 8 'and the brake disc 7. the driving of the spindle and the corresponding self-locking, the force exerted on the parking brake 13 by the control of the electric motor remains maintained even after the end of the command.
    The automatic parking brake 13 is, for example, a stirrup motor system, combined with the service brake 14. It could also be considered as integrated in the service brake system 14. At the same time, the automatic parking brake 13 and the service brake 14 act on the same brake piston 5 and the same brake caliper 6 to generate the braking force for the brake disk 7. The service brake 14 nevertheless has a separate actuator 10. The parking brake 14 is made according to Figure 1 as a hydraulic system whose actuator 10 is the ESP pump also called "iBooster". For service braking, a predefined clamping force is hydraulically established between the brake linings 8, 8 'and the brake disc 7. To generate the braking force with the service brake 14, hydraulically, it compresses a medium 11 including a brake fluid 11 substantially incompressible in the fluid volume defined by the brake piston 5 and the brake caliper 6. The piston seals 12 make the brake piston 5 tight with respect to the environment.
    The control of the brake actuators 2 and 10 is provided by the power stage, that is to say the control unit 9 which is, for example, the control apparatus of a driving dynamics system. also called ESP system (electronic stabilization program) or other such control device.
    For the control of the automatic parking brake 13, it is necessary first to exceed the idle stroke, the free interval before the braking force can be generated. The idle stroke is for example the distance that the nut 4 must overcome by the rotation of the pin 3 to come into contact with the brake piston 5. The free interval is the distance between the brake linings 8, 8 ' and the brake disc 7 in the disc brake installations of the vehicles. This operation has a certain duration compared to the total duration, in particular in the case of an automatic parking brake 13 which is in general relatively long. At the end of this preparatory phase, the brake linings 8, 8 'are applied against the brake disk 7 and the force begins to be established with further control. Figure 1 shows the situation in which the idle stroke and the free interval are exceeded. The brake linings 8, 8 'are then applied against the brake disc 7 and all the brakes, that is to say, the parking brake 13 and also the service brake 14 can apply in the pursuit of the control. , immediately, a braking force to the associated wheel. The descriptions of the free interval apply similarly to service brakes 14 and which, however, because of their significant pressure rise dynamic, pass the idle stroke in a shorter time than for the brake parking.
    Figure 2 shows diagrams of the current intensity I [A], characteristic and the evolution of the force F [kN] as a function of time t [s]. The diagram above shows the characteristic intensity curve I and the evolution of the force F for a conventional control. In this case, the actuator of the parking brake is first actuated, which results in a peak of connection in the current curve I. Then, the empty stroke is exceeded without having any further rise in the force. Clamping. The total time until you get the force is about 1 second. Depending on the voltage and the empty stroke to be traversed, the control time (t) required for this purpose may vary upwards or downwards.
    The diagram below shows the characteristic current curve I and the force curve F in the case of a possible embodiment of the control, according to the invention, of the parking brake. Unlike the upper diagram, the initial control is not done however only when a clamping force is actually necessary but already beforehand when detecting a parking maneuver. Unchanged, the parking brake actuator is actuated with a connection peak corresponding to the current curve I. Before the force is established, however, the parking brake actuator is switched off again. . As a result, there is no clamping force at this time. But the idle stroke of the parking brake is considerably reduced. The parking brake actuator remains in this intermediate position during the parking maneuver. When the parking maneuver is over, there is a new command. This corresponds in the bottom diagram to the second peak of current I. As the vacuum stroke is significantly reduced, we will have a rise in the force F after a very short control time. The time thus removed between the detection of a parking maneuver and the end of the parking maneuver can be several seconds (for example 0 <x <20 seconds). The second command is at a later time as shown on the time axis in the bottom diagram.
    NOMENCLATURE OF THE MAIN ELEMENTS 1 Brake system 2 Actuator 2,10 Brake actuator 3 Threaded spindle 4 Nut 5 Brake piston 6 Brake caliper 7 Brake disc 8, 8 'Brake lining 10 Actuator 11 Brake fluid 12 Piston seal 13 Parking brake 14 Service brake
    权利要求:
    Claims (14)
    [1" id="c-fr-0001]
    CLAIMS 1 °) A method of managing an automatic parking brake (13) of a vehicle having a hydraulic service brake (14) and an automatic parking brake (13), - the parking brake (13) having the minus an open position, a closed position, and an intermediate position between the open position and the closed position, characterized in that a parking quantity representing a parking maneuver of the vehicle and in response to the determination of this magnitude is determined. parking, the parking brake (13) is put into the intermediate position.
    [0002]
    2) Method according to claim 1, characterized in that to determine the size of the parking space, it exploits: - the geographical position of the vehicle and / or a map and / or a map in combination with the geographical position of the vehicle.
    [0003]
    3) Method according to one of claims 1 and 2, characterized in that to determine the size of the parking location, it exploits - video data, and - data from a system based on the mode of ultralights and / or the radar mode and / or - the vehicle functions, and - the activation of a storage aid system and / or an automatic storage assistance function.
    [0004]
    4) Method according to one of claims 1 to 3, characterized in that to determine the dimensions of the parking space, it exploits, - the speed profile of the vehicle and / or - ractionnement a flashing and / or - the steering of the wheels and / or - the steering angle.
    [0005]
    Method according to one of Claims 1 to 4, characterized in that the intermediate position is determined in that, with respect to the open position of the parking brake (13), a shorter operating time is required to the parking brake (13) in the closed position.
    [0006]
    Method according to one of claims 1 to 5, characterized in that the intermediate position is determined if - a large part of the idle stroke of the parking brake (13) with respect to the open position of the brake of parking (13) is traveled or - the idle stroke of the parking brake (13) is completely traversed.
    [0007]
    Method according to one of Claims 1 to 6, characterized in that the intermediate position is determined in that the parking brake (13) has a lower braking effect than the closed position of the parking brake ( 13).
    [0008]
    Method according to one of Claims 1 to 7, characterized in that the intermediate position is determined if a friction torque is generated by means of the parking brake (13) but the vehicle retains its movement.
    [0009]
    Method according to one of Claims 1 to 8, characterized in that the operability of the parking brake (13) is checked while the parking brake (13) is switched to the intermediate position. .
    [0010]
    10 °) Method according to one of claims 1 to 9, characterized in that by detecting the blocking request, it applies directly the necessary braking force by the parking brake (13).
    [0011]
    11 °) Method according to one of claims 1 to 10, characterized in that by detecting the final parking position of the vehicle, the parking brake (13) is directly activated and the closed position of the brake of the vehicle is continuously controlled. parking (13).
    [0012]
    12 °) Method according to one of claims 1 to 12, characterized in that at least two different control strategies for the parking brake (13), - in a first control strategy, the parking brake is set (13) directly from its open position to its closed position, and - in the second control strategy, an intermediate position is additionally controlled and the selection of the control strategy is made according to the detection of the parking size representing the parking maneuver of the vehicle.
    [0013]
    13 °) Control device (9) for a vehicle having a hydraulic service brake (14) and an automatic parking brake (13) for adjusting at least one open position, a closed position, an intermediate position of the parking brake (13), control apparatus characterized in that it comprises means for carrying out the method according to any one of claims 1 to 12.
    [0014]
    Automatic parking brake (13) having a hydraulic service brake (14) and an automatic parking brake (13), the parking brake (13) having at least one open position, one closed position, one intermediate position, parking brake characterized in that it comprises means designed to carry out the method according to any one of claims 1 to 12.
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    同族专利:
    公开号 | 公开日
    US20170066419A1|2017-03-09|
    US10179573B2|2019-01-15|
    CN106564483A|2017-04-19|
    DE102015217118B3|2016-08-18|
    FR3040671B1|2020-03-13|
    CN106564483B|2021-06-04|
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    法律状态:
    2017-09-25| PLFP| Fee payment|Year of fee payment: 2 |
    2018-09-21| PLFP| Fee payment|Year of fee payment: 3 |
    2019-02-15| PLSC| Search report ready|Effective date: 20190215 |
    2019-09-23| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-22| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-27| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015217118.3|2015-09-08|
    DE102015217118.3A|DE102015217118B3|2015-09-08|2015-09-08|Driver assistance system with reduced activation time|
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