US 11,866,036 B2
Driver assistance system for a motor vehicle, motor vehicle and method for operating a motor vehicle
Timo Klingemann, Sassenburg (DE); Bastian Schmidt, Wolfsburg (DE); Maike Wall, Braunschweig (DE); Michael Wonke, Braunschweig (DE); and Jörn Fauck, Braunschweig (DE)
Assigned to VOLKSWAGEN AKTIENGESELLSCHAFT, Wolfsburg (DE)
Filed by Volkswagen Aktiengesellschaft, Wolfsburg (DE)
Filed on Dec. 5, 2019, as Appl. No. 16/704,204.
Claims priority of application No. 10 2018 221 241.4 (DE), filed on Dec. 7, 2018.
Prior Publication US 2020/0180611 A1, Jun. 11, 2020
Int. Cl. B60W 30/09 (2012.01); B60Q 9/00 (2006.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [B60Q 9/008 (2013.01); G08G 1/167 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An on-board driver assistance system for a motor vehicle for preventing collisions, comprising a data processing apparatus having a data interface for receiving driving state data of the motor vehicle and environmental data provided by environment sensors on board the motor vehicle, the on-board driver assistance system being configured to:
detect at least one obstacle based on the environmental data and to determine a risk of frontal collision depending on one or more of the driving state data and the environmental data;
determine an evasion trajectory for preventing or mitigating a frontal collision of the motor vehicle with the obstacle;
detect if the obstacle is another vehicle, which vehicle is approaching the motor vehicle;
determine, whether the risk of frontal collision is greater than a predefined first threshold value;
if the obstacle is another vehicle and the risk of frontal collision is greater than the predefined first threshold value, determine whether a control action of a driver of the motor vehicle is guiding the vehicle along the determined evasion trajectory; and
if this is not the case, to modify the control action of the driver automatically such that the motor vehicle is guided along the determined evasion trajectory by the modified control action; wherein
the on-board driver assistance system is configured to optimize a probability of successful evasion and to optimize the driving stability of the motor vehicle during evasion; and to determine, depending on one or more of properties of the driving mechanics of the motor vehicle, a density of traffic in an environment of the motor vehicle, a relative speed between the motor vehicle and the obstacle, and road conditions, whether an automatic braking action should be carried out and whether the automatic braking action should be carried out before, during and/or after a steering action is carried out in order to guide the motor vehicle along the evasion trajectory.