• 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:

    公开号:SE1251083A1
    申请号:SE1251083
    申请日:2012-09-25
    公开日:2014-03-26
    发明作者:Malte Rothhämel
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    15 20 25 30 2 the calculations on the speed of the own vehicle. With regard to the information collected, the vehicle's future travel route can be calculated and a decision made as to how to avoid a collision, e.g. through an evasive maneuver.
    In the article "Anticollision system PRORETA with automatic braking and steering" (M.
    Schorn, U. Stählin (2008), Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 46: S1, pp. 683-694) discusses methods and results for avoiding collisions where driver-assisted systems are described with automatic object detection, lane prediction, and controlled braking and steering. The objects are detected by using input from LIDAR (Light Detection and Ranging) detection and camcorder images that show the position, size and speed of the object in front of the vehicle. A predicted lane is calculated depending on the distance, the vehicle's turning radius and the difference in speed between the vehicle and the object. Automatic braking is realized with an electric hydraulic brake and automatic steering is realized with an active steering of the front wheels. Methods are also described for assessing whether braking or steering, or both, should take place to avoid colliding with the object.
    A system using the driver's reflectors is described in DE-102007016799 which describes a method for a vehicle to avoid obstacles by creating a rapid rotation of the steering wheel without affecting the direction of the wheels. This triggers the driver's re fl ex and the driver himself steers away from the vehicle in the opposite direction. The rapid rotation of the steering wheel thus takes place in the opposite direction to the desired evasive maneuver.
    In some situations, an automatic emergency braking of the vehicle will not be enough to avoid a collision, for example if the speed of the own vehicle is too high and the distance to the object too short to have time to brake to a standstill.
    Instead, an automatic evasive maneuver by means of an active steering of the vehicle can be advantageous. For vehicles equipped with such systems, it is important to allow the driver to take control of the vehicle as soon as possible after an automatic steering action to perform the evasive maneuver has been made. 10 15 20 25 30 3 There is a desire to further increase the safety of vehicles in connection with the use of automatically generated evasive maneuvers to avoid a collision with an object that appears in front of the vehicle, but at the same time to let the driver as far as possible actively steer the vehicle. The object of the invention is thus to provide an improved system and method which accomplishes this.
    SUMMARY OF THE INVENTION The above objects are achieved by the invention defined by the independent claims.
    Preferred embodiments are defined by the dependent claims.
    According to an embodiment of the invention, the invention is realized as follows: 1. The steering system superimposes a steering angle such that the front wheel of the vehicle is steered in the direction in which the evasive maneuver is to be performed, ie. the control system starts the evasive maneuver. This causes a steering wheel torque on the steering wheel in the other direction, ie. the driver experiences that the steering wheel steers the vehicle towards the object instead. The steering wheel torque generated in the "wrong" direction is a consequence of the design of the steering system. 2. This steering wheel in the "wrong" direction activates the driver's reflex which means that the driver tries to avoid a collision, ie. applies a steering wheel torque in the "right" direction, ie. the reflex of steering the car in the same direction as the active steering system has begun the evasive maneuver. The intervention of the steering wheel triggers the driver to perform an evasive maneuver.
    The automatic control system only enters at the beginning of the evasive maneuver, on the order of a maximum of one second, and takes over control. This means that when the driver reacts and steers in the right direction, he / she regains control of the vehicle. An advantage of the invention is that the vehicle is automatically steered so that the obstructing object is avoided, and that the driver is triggered to react so that a torque is applied to the steering wheel by the driver supporting the automatically generated turn and at the same time the driver regains responsibility for the vehicle.
    Brief Description of the Drawings Figure 1 is a schematic block diagram illustrating the present invention.
    Figure 2 is a flow chart illustrating the method of the invention.
    Figure 3 is a fate diagram illustrating an embodiment of the method according to the invention.
    Detailed Description of Preferred Embodiments of the Invention The invention will now be described with reference to the accompanying figures.
    Figure 1 shows a schematic block diagram illustrating the invention comprising a safety system 2 for a vehicle comprising a monitoring device 4 adapted to detect an object 6 adjacent to the vehicle and to emit an indication signal 8 depending on the detected object 6. The vehicle may be a truck or a bus, but the system is also applicable to passenger cars. The monitoring device is, for example, forward-facing cameras, for example of the CCD type, LIDAR systems, and other similar systems that can detect objects in front of the vehicle. Further examples of suitable systems that can function as a monitoring device have been given in the prior art which were discussed in the background part of the description. The indication signal 8 comprises object information, inter alia, regarding the direction and distance to the object.
    Furthermore, the safety system comprises a wheel steering unit 10 adapted to influence the wheel steering of the vehicle in dependence on a first steering signal 12 by changing the direction of the vehicle wheel 13, i.e. controlling the vehicle, a steering wheel control unit 14 adapted to apply a rotating torque to the steering wheel 16 of the vehicle for a predetermined time depending on a second control signal 18. The safety system 2 further comprises an analysis unit 20 adapted to receive the indication signal 8 and also a set of vehicle parameters 22 which include information about the speed of the vehicle. The analysis unit 20 is further adapted to analyze the indication signal 8 with respect to the direction and distance to the object 6 and with regard to said set of vehicle parameters 22 in order to determine whether the vehicle is in danger of colliding with the object 6.
    The analysis of the indication signal and the set of vehicle parameters takes place, for example, in such a manner as described above in the background part of the description.
    If the result of the analysis shows that the vehicle is in danger of colliding with the object 6, the analysis unit 20 is adapted to generate a first control signal 12 which means that the wheel control unit 10 changes the direction of the vehicle so that the object 6 is avoided, and to generate, substantially simultaneously with the first control signal 12. a second steering signal 18 which means that the steering wheel control unit 14 applies a rotating torque to the steering wheel 16, for a predetermined time, in a direction such that the steering wheel movement means that the driver feels that the vehicle is steering towards the object 6.
    The rotating torque applied to the steering wheel is thus in an opposite direction as a steering wheel movement which would cause the object to be avoided.
    Preferably, the time during which the automatic control is in progress is limited in time, for example to a time of the order of one second.
    According to one embodiment, the rotating torque means a rotation of the steering wheel at most a predetermined angle, 5 degrees. And, the predetermined time is preferably at most 0.5 seconds, and more preferably shorter than 0.2 second. According to one embodiment, the wheel steering unit and the steering wheel steering unit are adapted to operate independently of each other, which means, for example, that the wheel steering unit can be controlled to actuate the wheels. the vehicle turns to 10 15 20 25 30 6 left and at the same time as the steering wheel control unit applies a rotating torque to the steering wheel which would correspond to the vehicle turning to the right.
    The wheel steering unit and the steering wheel steering unit are of course adapted to cooperate normally, ie. a steering wheel steering to turn in a certain direction causes the wheels to turn so that the vehicle turns in that direction.
    According to a further embodiment, the steering wheel control unit 14 is adapted to detect a rotating torque on the steering wheel and output a detection signal 19 to the analysis unit 20 depending thereon. If a torque is detected after the torque has been applied to the steering wheel and which is in a direction so that a collision with the object is avoided, the wheel steering unit is adapted to be controlled by this torque, ie. the driver takes control and contributes to the evasive maneuver.
    If you use a system with active steering with torque overlay which, among other things, means that the steering wheel turns with the movement of the system, an opposite short rotation is obtained on the steering wheel, which means that the driver reflexively turns back the steering wheel and agrees to the movement initiated by the active steering to avoid the obstacle .
    This can be realized through an active control system that works with so-called angular overlay, ie. in the steering column, for example, a planetary gearbox is installed which is connected to an electric motor which can provide an angular input signal which is superimposed on the driver's steering angle input signal. The evasive maneuver is then triggered by the system, but the driver performs the maneuver himself.
    An example of an overlay control for a vehicle is described in EP-1754648 which relates to an overlay device which combines a steering angle from the driver with a second steering angle from another unit to form an exit angle which then affects the steering. The invention also relates to a method for a safety system for a vehicle and this method will now be described with reference to the flow chart shown in Figure 2.
    The safety system comprises, as described above with reference to Figure 1, a monitoring device adapted to detect an object adjacent to the vehicle and to emit an indication signal in dependence on the detected object. The indication signal includes object information, among other things regarding the direction and distance to the object. The safety system further comprises a wheel steering unit adapted to influence the wheel steering of the vehicle in dependence on a first steering signal, a steering wheel steering unit adapted to apply a rotating torque to the steering wheel of the vehicle for a predetermined time depending on a second steering signal.
    The safety system further comprises an analysis unit adapted to receive said indication signal and a set of vehicle parameters which, among other things, contain information about the speed of the vehicle.
    The method comprises the step of A - analyzing said indication signal with respect to direction and distance to the object and with respect to said set of vehicle parameters to determine if the vehicle is in danger of colliding with the object.
    If the result of the analysis shows that the vehicle is in danger of colliding with the object, the method includes the steps of: B - generating a first steering signal which means that the wheel steering unit changes the direction of the vehicle so that the object is avoided, and C - generating, substantially simultaneously with the first steering signal, a second steering signal which means that the steering wheel control unit applies a rotating torque to the steering wheel, for a predetermined time, in a direction such that the steering wheel movement means that the driver feels that the vehicle is steering towards the object.
    The rotating torque applied to the steering wheel in step C involves rotating the steering wheel at most a predetermined angle, 5 degrees, and the predetermined time is preferably at most 0.5 seconds, and more preferably at most 0.2 seconds. above in connection with the description of the safety system, the wheel steering unit and the steering wheel steering unit are adapted to function independently of each other.
    According to a further embodiment, illustrated by the flow chart in Figure 3, the steering control unit is adapted to detect a rotating moment on the steering wheel, and if a rotating moment is detected after step C and which is in a direction to avoid collision with the object, of this twisting moment.
    The present invention is not limited to the above-described preferred embodiments. Various alternatives, modifications and equivalents can be used.
    The above embodiments are therefore not to be construed as limiting the scope of the invention as defined by the appended claims.
    权利要求:
    Claims (10)
    [1]
    A method for a safety system for a vehicle comprising a monitoring device adapted to detect an object adjacent to the vehicle and to emit an indication signal depending on the detected object, the indication signal comprising object information including the direction and distance to the object, a wheel control unit adapted influencing the wheel steering of the vehicle depending on a first steering signal, a steering wheel control unit adapted to apply a rotating torque to the steering wheel of the vehicle for a predetermined time depending on a second steering signal, the safety system further comprises an analysis unit adapted to receive said indication signal and a set of vehicle parameters. otherwise contains information about the speed of the vehicle, the method comprising the step of A - analyzing said indication signal with respect to direction and distance to the object and with respect to said set of vehicle parameters to determine if the vehicle is at risk collide with the object, characterized in that if the result of the analysis shows that the vehicle risks colliding with the object, the method includes the steps of: B - generating a first control signal which means that the wheel control unit changes the direction of the vehicle so that the object is avoided, and C - generate , substantially simultaneously with the first steering signal, a second steering signal which means that the steering wheel control unit applies a rotating torque to the steering wheel, for a predetermined time, in a direction such that the steering wheel movement means that the driver experiences the vehicle steering towards the object.
    [2]
    The method of claim 1, wherein said rotating torque involves rotating the steering wheel at most a predetermined angle, 5 degrees.
    [3]
    The method of claim 1 or 2, wherein said predetermined time is at most 0.5 seconds.
    [4]
    The method according to any one of claims 1-3, wherein the wheel steering unit and the steering wheel steering unit are adapted to function independently of each other. 10 15 20 25 30 10
    [5]
    The method according to any one of claims 1-4, the steering control unit is adapted to detect a rotating torque on the steering wheel, and if a rotating moment is detected after step C and which is in a direction so that collision with the object is avoided, the wheel steering unit is adapted to be controlled therefrom turning torque.
    [6]
    A safety system (2) for a vehicle comprising a monitoring device (4) adapted to detect an object (6) adjacent to the vehicle and to emit an indication signal (8) in dependence on the detected object (6), the indication signal (8) ) includes object information including the direction and distance to the object, a wheel steering unit (10) adapted to influence the wheel steering of the vehicle depending on a first steering signal (12), a steering wheel steering unit (14) adapted to apply a torque to the steering wheel (16) of the vehicle during a predetermined time depending on a second control signal (18), the safety system (2) further comprises an analysis unit (20) adapted to receive said indication signal (8) and a set of vehicle parameters (22) which include information about the speed of the vehicle, and that the analysis unit (20) is further adapted to analyze said indication signal (8) with respect to the direction and distance to the object (6) and with respect to said set of vehicle parameters (22) to determine if the vehicle is likely to collide with the object (6), characterized in that if the result of the analysis shows that the vehicle is at risk of colliding with the object (6), the analysis unit (20) is adapted to generate a first steering signal (12) which means that the wheel steering unit (10) changes the direction of the vehicle so that the object (6) is avoided, and to generate, substantially simultaneously with the first steering signal (12), a second steering signal (18) which means that the steering steering unit (14) applies a rotating torque to the steering wheel (16), for a predetermined time, in a direction such that the steering wheel movement means that the driver feels that the vehicle is steering towards the object (6).
    [7]
    The safety system of claim 6, wherein said rotating torque involves rotating the steering wheel at most a predetermined angle, 5 degrees. 10 15 ll
    [8]
    The security system according to any one of claims 6 or 7, wherein said predetermined time is at most 0.5 seconds.
    [9]
    The safety system according to any one of claims 6-8, wherein the wheel steering unit and the steering wheel steering unit are adapted to function independently of each other.
    [10]
    The safety system according to any one of claims 6-9, the steering control unit is adapted to detect a turning torque on the steering wheel, and if a turning torque is detected after the turning torque has been applied to the steering wheel and which is in a direction to avoid collision with the object, the wheel steering unit is adapted to be controlled by this torque.
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    同族专利:
    公开号 | 公开日
    SE536693C2|2014-05-27|
    DE112013004175T5|2015-05-07|
    WO2014051499A1|2014-04-03|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102004027085A1|2004-06-02|2005-12-22|Daimlerchrysler Ag|Method for tracking a vehicle|
    JP2008168784A|2007-01-11|2008-07-24|Fuji Heavy Ind Ltd|Travel control device for vehicle|
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    DE102007016799B4|2007-04-05|2009-03-19|Deutsches Zentrum für Luft- und Raumfahrt e.V.|Driver assistance system, steering and method for assisting the driver of a vehicle|
    JP5053692B2|2007-04-16|2012-10-17|日立オートモティブシステムズ株式会社|Steering support system and vehicle equipped with the same|
    DE102010048822B4|2010-10-20|2013-09-12|Deutsches Zentrum für Luft- und Raumfahrt e.V.|assistance system|
    DE102010060300A1|2010-11-02|2012-05-03|Dr. Ing. H.C. F. Porsche Aktiengesellschaft|Method for detecting danger situation of vehicle and response for elimination of danger situation, involves determining vehicle environment and feeding jolt in transverse direction of vehicle in travel direction|US9896093B2|2015-09-15|2018-02-20|Atieva, Inc.|Vehicle control system|
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    CN108335527B|2017-01-19|2020-12-29|上海仪电数字技术股份有限公司|Alarm system and method between running vehicles|
    法律状态:
    2021-10-12| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1251083A|SE536693C2|2012-09-25|2012-09-25|Safety system for a vehicle to avoid collision with objects, and a method in connection with the safety system|SE1251083A| SE536693C2|2012-09-25|2012-09-25|Safety system for a vehicle to avoid collision with objects, and a method in connection with the safety system|
    PCT/SE2013/051080| WO2014051499A1|2012-09-25|2013-09-17|Safety system for a vehicle for avoiding collision with objects, and a method in connection with the safety system.|
    DE201311004175| DE112013004175T5|2012-09-25|2013-09-17|A safety system for a vehicle to avoid collisions with objects, and a method related to the safety system|
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