US 12,325,446 B2
Apparatus and method for monitoring the stability of an ego vehicle
Yannick Berghöfer, Frankfurt am Main (DE)
Assigned to Continental Autonomous Mobility Germany GmbH, Ingolstadt (DE)
Filed by Continental Automotive GmbH, Hannover (DE)
Filed on Apr. 6, 2022, as Appl. No. 17/658,251.
Claims priority of application No. 10 2021 203 428.4 (DE), filed on Apr. 7, 2021.
Prior Publication US 2022/0324486 A1, Oct. 13, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/09 (2012.01); B60W 40/114 (2012.01)
CPC B60W 60/0015 (2020.02) [B60W 40/09 (2013.01); B60W 40/114 (2013.01); B60W 2300/14 (2013.01); B60W 2540/229 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4045 (2020.02)] 19 Claims
OG exemplary drawing
 
1. An apparatus for monitoring and controlling the stability of an ego vehicle, comprising
at least one processor circuit configured to
determine a degree of risk of at least one of a detected or anticipated pendulum motion of the ego vehicle, and
assess, on the basis of the determined degree of risk, whether a first driver assistance device in an active state will lead to at least one of pendulum initiation or pendulum intensification of the ego vehicle, each of the first driver assistance device and the second driver assistance device is configured to guide the ego vehicle and executed by the at least one processor circuit,
wherein the at least one processor circuit is further configured to suppress activation of the first driver assistance device if the determined degree of risk exceeds a preset threshold,
wherein the first driver assistance device is a lateral safety-based driver assistance device, and the second driver assistance device is a comfort-based driver assistance device,
wherein the lateral safety-based driver assistance device comprises a collision avoidance protection device for preventing collisions with obstacles or a lane departure protection device for preventing departure from a lane or road in which the ego vehicle is disposed,
wherein the degree of risk is determined on the basis of assessed factors influencing the pendulum motion of the ego vehicle, a weighting factor being assigned to each of the factors influencing the degree of risk, each weighting factor reflecting an influence of the assessed factor assigned thereto on the pendulum motion, and the at least one processor circuit is configured to perform a weighted combination of the assessed influencing factors in order to determine the degree of risk,
wherein each of the first driver assistance device and the second driver assistance device is an influencing factors for determining the degree of risk and each of the first driver assistance device and the second driver assistance device has an assigned weighting factor.