US6084508A — Automatic emergency braking method and arrangement

Claim 1

Independent Claim 182 words

A method for emergency braking of a vehicle having a detection system which detects obstacles located in or near the direction of motion of the vehicle and sensors which provide characteristic parameters of the condition of the vehicle and an evaluating unit which determines target quantities for controlling the motion of the vehicle from data concerning the obstacles and the parameters of vehicle condition and an automatic emergency braking system comprising determining in the evaluation unit a situation in which an impending collision of the vehicle with an obstacle can no longer be avoided by any steering and/or braking action of the vehicle and triggering the automatic emergency braking system to produce rapid deceleration of the vehicle only after the evaluating unit has determined that an impending collision of the vehicle with an obstacle can no longer be avoided by any steering and/or braking action of the vehicle to minimize the effect of the collision, wherein the automatic emergency braking system is not triggered by a situation in which a collision is possible but still avoidable as determined by the evaluation unit.

Claim 2

Independent Claim 182 words

A method for emergency braking of a vehicle having a detection system which detects obstacles located in or near the direction of motion of the vehicle and sensors which provide characteristic parameters of the condition of the vehicle and an evaluating unit which determines target quantities for controlling the motion of the vehicle from data concerning the obstacles and the parameters of vehicle condition and an automatic emergency braking system comprising determining in the evaluation unit a situation in which an impending collision of the vehicle with an obstacle can no longer be avoided by any steering and/or braking action of the vehicle and triggering the automatic emergency braking system to produce rapid deceleration of the vehicle only after the evaluating unit has determined that an impending collision of the vehicle with an obstacle can no longer be avoided by any steering and/or braking action of the vehicle to minimize the effect of the collision, wherein the automatic emergency braking system is not triggered by a situation in which a collision is possible but still avoidable as determined by the evaluation unit.

Claim 3

Dependent Claim 40 words

A method according to claim 1 wherein the physical limits of possible evasion of an obstacle, and hence the triggering of the emergency braking function, are determined by braking and/or steering actions that can be performed by a vehicle operator.

Claim 4

Dependent Claim 45 words

A method according to claim 2 wherein the time after which a collision with an obstacle is no longer avoidable occurs when a required vehicle stopping distance is greater than the distance of the vehicle from the obstacle substantially in the direction of vehicle motion.

Claim 5

Dependent Claim 47 words

A method according to claim 2 wherein the time after which a collision is physically no longer avoidable by circumventing an obstacle occurs when an evasion radius required to circumvent the obstacle is smaller than an evasion radius determined from the state of motion of the vehicle.

Claim 6

Dependent Claim 20 words

A method according to claim 4 wherein the calculation of the evasion radius is carried out using the "Kamm" circle.

Claim 7

Dependent Claim 39 words

A method according to claim 1 wherein the determination of the state of the vehicle on the basis of the parameters from sensors on the vehicle includes a currently determined traction between tires of the vehicle and the roadway.

Claim 8

Dependent Claim 16 words

A method according to claim 1 wherein the deceleration of the vehicle is effected by brakes.

Claim 9

Dependent Claim 15 words

A method according to claim 7 wherein the braking is effected at maximum brake pressure.

Claim 10

Dependent Claim 18 words

A method according to claim 7 wherein deceleration of the vehicle is continued to standstill of the vehicle.

Claim 11

Dependent Claim 33 words

A method according to claim 1 wherein the deceleration of the vehicle is effected after response of the emergency braking function independently of steering and/or braking actions on the part of the operator.

Claim 12

Dependent Claim 29 words

A method according to claim 1 wherein, after recognition of a critical obstacle and before triggering of the emergency braking function, the detection system continuously detects the collision obstacle.

Claim 13

Dependent Claim 26 words

A method according to claim 1 including storing in a memory environmental data furnished by the detection unit and/or signals generated by sensors in the vehicle.

Claim 14

Dependent Claim 31 words

A method according to claim 1 including using a camera to make a visual record of traffic events, and storing the corresponding video signal generated by the camera in a memory.

Claim 15

Dependent Claim 29 words

A method according to claim 1 including storing in a memory data which were acquired within a selected time interval prior to triggering of the automatic emergency braking system.

Claim 16

Dependent Claim 38 words

A method according to claim 1 including storing a timing signal in a memory in which environmental data furnished by the detection unit and/or the signals delivered by sensors and/or a video signal from a camera is stored.

Claim 17

Dependent Claim 30 words

A method according to claim 1 where the environmental data furnished by the detection unit and/or the signals from the sensors and/or a video signal from a camera are synchronized.

Claim 18

Dependent Claim 16 words

A method according to claim 16 wherein a timing signal is used to synchronize the data.

Claim 19

Dependent Claim 152 words

An arrangement for emergency braking of a vehicle comprising a detection system which detects obstacles located in or near the direction of motion of the vehicle, sensors which provide characteristic parameters of the condition of the vehicle, an evaluating unit which determines target quantities for controlling the motion of the vehicle from data concerning the obstacles and the parameters of vehicle condition and determining when a collision with an obstacle can no longer be avoided by any steering and/or braking action of the vehicle, and an automatic emergency braking system arranged to be triggered only after the evaluation unit has determined that an obstacle can no longer be avoided by any steering and/or braking action of the vehicle to minimize the effect of the collision, wherein the automatic emergency braking system is not triggered by a situation in which a collision is possible but still avoidable as determined by the evaluation unit.

Claim 20

Dependent Claim 152 words

An arrangement for emergency braking of a vehicle comprising a detection system which detects obstacles located in or near the direction of motion of the vehicle, sensors which provide characteristic parameters of the condition of the vehicle, an evaluating unit which determines target quantities for controlling the motion of the vehicle from data concerning the obstacles and the parameters of vehicle condition and determining when a collision with an obstacle can no longer be avoided by any steering and/or braking action of the vehicle, and an automatic emergency braking system arranged to be triggered only after the evaluation unit has determined that an obstacle can no longer be avoided by any steering and/or braking action of the vehicle to minimize the effect of the collision, wherein the automatic emergency braking system is not triggered by a situation in which a collision is possible but still avoidable as determined by the evaluation unit.

Claim 21

Dependent Claim 20 words

An arrangement according to claim 18, wherein the automatic braking system is actuable independently of action by a vehicle operator.

Claim 22

Dependent Claim 17 words

An arrangement according to claim 19 wherein the automatic emergency braking system has a short response time.

Claim 23

Dependent Claim 24 words

An arrangement according to claim 18 including at least one of an antilocking braking system, an electronic locking hindrance and a dynamic regulation system.

Claim 24

Dependent Claim 26 words

An arrangement according to claim 18 wherein the sensors include sensors for detecting at least one of steering angle, vehicle speed and vehicle angle of yaw.

Claim 25

Dependent Claim 22 words

An arrangement according to claim 18 wherein the sensors and the evaluation unit determine the traction between roadway and the vehicle tires.

Claim 26

Dependent Claim 21 words

An arrangement according to claim 18 wherein the sensors include at least one of a radar sensor and a laser sensor.

Claim 27

Dependent Claim 26 words

An arrangement according to claim 18 including a memory for storing at least one of data furnished by the detection system and signals generated by sensors.

Claim 28

Dependent Claim 18 words

An arrangement according to claim 25 including camera means providing a video signal which is storable in memory.

Claim 29

Dependent Claim 13 words

A arrangement according to claim 25 wherein the memory is a cyclical memory.

Claim 30

Dependent Claim 15 words

An arrangement according to claim 25 wherein a time code is stored in the memory.

Claim 31

Dependent Claim 33 words

An arrangement according to claim 26 including a synchronizing unit to synchronize at least one of data from the detection system, signals from the sensors and the video signal from the camera means.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2003-07-04	2004-01-03	2004-07-04	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2007-07-04	2008-01-03	2008-07-04	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2011-07-04	2012-01-03	2012-07-04	$7700.00	Window Closed / Lapsed

Automatic emergency braking method and arrangement

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