US 11,987,225 B2
Driver assistance method in which a vehicle performs a driving manoeuvre automatically, and closed-loop and open-loop control device for a braking device of a vehicle
Frank Baerhle-Miller, Schoenaich (DE); and Hubertus Wienken, Langenbrettach (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/260,394
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jun. 5, 2019, PCT No. PCT/EP2019/064657
§ 371(c)(1), (2) Date Jan. 14, 2021,
PCT Pub. No. WO2020/015918, PCT Pub. Date Jan. 23, 2020.
Claims priority of application No. 10 2018 212 064.1 (DE), filed on Jul. 19, 2018.
Prior Publication US 2021/0261103 A1, Aug. 26, 2021
Int. Cl. B60T 7/12 (2006.01); B60T 8/171 (2006.01); B60T 8/72 (2006.01)
CPC B60T 7/12 (2013.01) [B60T 8/171 (2013.01); B60T 8/72 (2013.01); B60T 2201/03 (2013.01); B60T 2230/08 (2013.01); B60T 2260/02 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for assisting a driver, in which a vehicle automatically carries out a driving maneuver, comprising:
at least partially activating a parking brake such that the parking brake is at least partially activated while the driving maneuver is being carried out such that a braking effect is at least partially constantly exerted on at least one wheel of at least one axle during the driving maneuver;
operating a drive of the vehicle counter to the at least partially activated parking brake;
detecting at least one operating parameter which is associated with an unintentional increase of the braking effect exerted on the at least one wheel;
evaluating the detected at least one operating parameter during the driving maneuver; and
reducing the braking effect on the at least one wheel based on the evaluation, wherein:
the at least one operating parameter comprises wheel rotation speeds of the at least one wheel of at least one axle;
the braking effect on a first wheel of the at least one wheel that has a lower wheel rotation speed than a second of the at least one wheel is partially reduced in response to a difference between the wheel rotation speeds of the first and second wheels exceeding a threshold value; and
the threshold value for the difference is adapted as a function of a driving direction, such that, in a vehicle with front-wheel steering, the threshold value is higher when reversing than when traveling forward.