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DE-102014206341-B4 - Evasive steering assist

DE102014206341B4DE 102014206341 B4DE102014206341 B4DE 102014206341B4DE-102014206341-B4

Abstract

Control unit (201) for a vehicle (101), wherein the control unit (201) is configured, - to detect an obstacle (102) on a current trajectory of the vehicle (101); - to determine an available distance (601) next to the obstacle (102) for an evasive trajectory (111, 112); - to determine an evasive trajectory (111, 112) for the vehicle (101) with a target distance (531) next to the obstacle (102); wherein the target distance (531) -for available distances (601) smaller than a predefined maximum distance (602), except for a transition range corresponding to the available distance (601); - for available distances (601) greater than the predefined maximum distance (602), which corresponds to the maximum distance (602); and - in the transition range from an available distance (601) that is smaller than the predefined maximum distance (602) to an available distance (601) that corresponds to the maximum distance (602) that is smaller than the available distance (601); - to determine an indication that a driver of vehicle (101) initiated an evasive maneuver; and - depending on the evidence obtained and depending on the evasive trajectory obtained (111, 112), to initiate support for the evasive maneuver.

Inventors

  • Joachim Schiehlen

Assignees

  • BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT

Dates

Publication Date
20260513
Application Date
20140402

Claims (9)

  1. Control unit (201) for a vehicle (101), wherein the control unit (201) is configured to: - detect an obstacle (102) on the current trajectory of the vehicle (101); - determine an available distance (601) next to the obstacle (102) for an evasive trajectory (111, 112); - determine an evasive trajectory (111, 112) for the vehicle (101) with a target distance (531) next to the obstacle (102); wherein the target distance (531) - for available distances (601) less than a predefined maximum distance (602), corresponds to the available distance (601) except for a transition range; - for available distances (601) greater than the predefined maximum distance (602), corresponds to the maximum distance (602); and - in the transition range from an available distance (601) that is smaller than the predefined maximum distance (602) to an available distance (601) that is equal to the maximum distance (602) but smaller than the available distance (601); - to determine an indication that a driver of the vehicle (101) is initiating an evasive maneuver; and - depending on the determined indication and depending on the determined evasive trajectory (111, 112), to initiate support for the evasive maneuver.
  2. Control unit (201) according to Claim 1 , where the maximum distance (602) depends on one or more properties of the vehicle (101).
  3. Control unit (201) according to a preceding claim, wherein the maximum distance (602) depends on a lateral acceleration of the vehicle (101) on the determined avoidance trajectory (111, 112).
  4. Control unit (201) according to a preceding claim, wherein the support of the evasive maneuver comprises acting on a steering device (203) of the vehicle (101) and/or performing a vehicle dynamics intervention with yaw reaction of the vehicle (101), depending on the determined evasive trajectory (111, 112).
  5. Control unit (201) according to a preceding claim, wherein the evasive maneuver support comprises one or more of: - Adjusting a vehicle controller to increase vehicle stability (101); and/or - Preventing, canceling and/or reducing automatic braking intervention.
  6. Control unit (201) according to a preceding claim, wherein the control unit is configured to: - predict a changing position of the obstacle (102); and - determine the evasive trajectory (111, 112) depending on the predicted position of the obstacle (102) and/or taking into account a safety distance (532) to the predicted position of the obstacle (102).
  7. Control unit (201) according to a preceding claim, wherein the available distance (601) next to the obstacle (102) depends on one or more of: - a road edge or a lane edge; - a predicted position of one or more other road users; and/or - a safety distance to the predicted position of the one or more other road users or to the road edge.
  8. Control unit (201) according to a preceding claim, wherein the control unit is configured to prevent assistance with the evasive maneuver if: - the available distance (601) is less than or equal to a predefined minimum distance; and/or: - another obstacle is detected or predicted on the determined evasive trajectory (111, 112); and/or: - the determined evasive trajectory (111, 112) is not drivable on a roadway with a determined coefficient of friction of the vehicle (101).
  9. Method (300) for assisting the driver of a vehicle (101) in an evasive maneuver, the method (300) comprising: - Detecting (301) an obstacle (102) on the current trajectory of the vehicle (101); - Determining (302) an available distance (601) adjacent to the obstacle (102) for an evasive trajectory (111, 112); - Determining (302) the evasive trajectory (111, 112) for the vehicle (101) with a target distance (531) adjacent to the obstacle (102); wherein the target distance (531) - for available distances (601) less than a predefined maximum distance (602), except for a transition range, is equal to the available distance (601); - for available distances (601) greater than the predefined maximum distance (602), which corresponds to the maximum distance (602); and - in the transition range from an available distance (601) that is less than the predefined maximum distance (602) to an available distance (601) that corresponds to the maximum distance (602) but is less than the available distance (601); - Determine (303) an index for the initiation of an evasive maneuver by the driver of the vehicle (101); and - depending on the determined index and depending on the determined evasive trajectory (111, 112), perform (304) assistance of the evasive maneuver.

Description

The invention relates to a method and a corresponding device for assisting a driver of a vehicle during an evasive maneuver. Out of EP 1 735 187 B1 is a known anti-collision system that assists the driver of a vehicle in performing an evasive maneuver around an obstacle. To execute a stable and safe evasive maneuver, it is crucial that the driver receives support, particularly during the initial phase. This is because the vehicle's dynamic characteristics significantly influence the course of the entire maneuver during this initial phase. This document describes devices and methods that provide support to the driver, especially during the initial phase of an evasive maneuver. Performing an evasive maneuver can potentially destabilize the vehicle. This document describes devices and procedures that assist the driver in performing an evasive maneuver by reducing or completely preventing vehicle vibrations. DE 10 2008 016 377 A1 describes a method for operating a vehicle during an evasive maneuver. DE 10 2006 034 254 A1 describes a procedure for performing an evasive maneuver. DE 10 2007 027 495 A1 describes a method to assist the driver of a motor vehicle with lateral guidance. DE 10 2011 080 789 A1 describes a method for controlling driving stability. Evasive maneuver support is typically based on a previously determined evasive trajectory. Specifically, the support typically aims to ensure that the driver follows this trajectory. Furthermore, the determined trajectory allows for an evaluation of the driver's behavior during the evasive maneuver. This document describes devices and methods for determining an (potentially optimal) evasive trajectory that is highly likely to be followed by the driver. It also describes devices and methods for adjusting the level of support to ensure the driver follows the determined evasive trajectory. According to one aspect, a control unit for a vehicle is described. The vehicle can be a single-track or two-track road vehicle, e.g., a passenger car, a truck, or a motorcycle. The control unit can include one or more of the features described in this document. The control unit is configured to detect an obstacle on the vehicle's current trajectory. For this purpose, the vehicle can acquire environmental data using one or more environmental sensors (e.g., one or more cameras, one or more radar sensors, and/or one or more LiDAR sensors, i.e., light detection and ranging sensors). The obstacle can be detected based on the environmental data. Examples of obstacles include another vehicle and/or another road user, such as a pedestrian. The obstacle can be at a fixed location on the vehicle's trajectory, or it can change its location. The control unit is further configured to determine an evasive trajectory for the vehicle to avoid the obstacle. This evasive trajectory can include a route (different from the current trajectory) that bypasses the obstacle. The control unit can be configured to determine multiple evasive trajectories, for example, a first trajectory to the left of the obstacle and a second (different) trajectory to the right. The control unit is further configured to detect, at an initial point in time, an initial indication that the driver of the vehicle has initiated an evasive maneuver. The driver can initiate an evasive maneuver, in particular, by operating a steering device (e.g., the steering wheel) to move the vehicle onto a trajectory that deviates from its current one. The control unit is configured to detect an indication that the driver has operated the steering device to move the vehicle onto a different trajectory. The first indication of initiating an evasive maneuver may include, for example, one or more of the following: the magnitude of a steering angle of the vehicle's steering device reaches or exceeds a predefined first steering angle threshold; the magnitude of a steering speed of the vehicle's steering device reaches or exceeds a predefined first steering speed threshold; the magnitude of a steering torque at the vehicle's steering device The steering device reaches or exceeds a predefined first steering torque threshold; and/or the magnitude of a steering acceleration of the vehicle's steering device reaches or exceeds a predefined first steering acceleration threshold; and/or the magnitude of a steering torque change of the vehicle's steering device reaches or exceeds a predefined first steering torque change threshold; and/or the magnitude of a steering angle change of the vehicle's steering device reaches or exceeds a predefined first steering angle change threshold. Among the possible indicators that a driver is initiating an evasive maneuver, steering speed in combination with a change in steering torque is particularly useful, as these indicators allow for initiating an evasive maneuver at a very early stage. It can also be considered whether the steering speed and/or the change in steering torque occurred during "normal" driving or from a