US 12,447,950 B2
Method and device for preventing a subject vehicle from driving into a vehicle ahead, as well as vehicle and electronic processing unit
Wei Hu, Garbsen (DE); Tim Koenings, Tettnang (DE); and Richard Matthaei, Hameln (DE)
Assigned to ZF CV SYSTEMS GLOBAL GMBH, Bern (CH)
Filed by ZF CV Systems Global GmbH, Bern (CH)
Filed on Apr. 4, 2023, as Appl. No. 18/295,275.
Claims priority of application No. 10 2022 112 104.6 (DE), filed on May 13, 2022.
Prior Publication US 2023/0365127 A1, Nov. 16, 2023
Int. Cl. B60W 50/14 (2020.01); B60W 10/06 (2006.01); B60W 10/184 (2012.01); B60W 30/09 (2012.01); B60W 30/16 (2020.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 10/06 (2013.01); B60W 10/184 (2013.01); B60W 30/16 (2013.01); B60W 50/14 (2013.01); G08G 1/166 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2510/0657 (2013.01); B60W 2554/80 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A method for preventing a subject vehicle from driving into a vehicle ahead, comprising:
equipping the subject vehicle with at least one brake system, a drive system and a driver assistance system with an emergency braking function:
issuing a haptic warning when the subject vehicle enters a distance warning zone:
applying emergency braking on entering an emergency braking zone:
calculating a relative speed between the subject vehicle and the vehicle ahead;
continuously calculating a time to collision (TTC) when approaching the vehicle ahead, the TTC indicating a remaining time until the subject vehicle collides with the vehicle ahead at the relative speed;
specifying a first TTC threshold value for adaptive classification of a distance from the subject vehicle to the vehicle ahead;
checking, when approaching the vehicle ahead, whether the TTC falls below the first TTC threshold value; and
if the TTC falls below the first TTC threshold value, issuing a haptic warning to a driver of the vehicle,
wherein a braking process is carried out as a haptic warning in order to produce a noticeable braking jolt for the driver,
wherein the haptic warning is generated in the form of the braking process by throttling the drive system and/or by actuating a service brake or an endurance brake,
wherein a strength of the throttling of the drive system and/or a strength of the braking by the service brake or the endurance brake is proportional to a further approach of the subject vehicle to the vehicle ahead, and
wherein the strength of the throttling of the drive system is determined by the formula

OG Complex Work Unit Math
wherein RM % corresponds to a permissible portion of a reference engine torque as a percentage of the reference engine torque,
wherein TTCSw1 corresponds to the first threshold value,
wherein TTCCalc corresponds to the calculated current TTC, and
wherein TTCSw2 corresponds to the second threshold value.