Patent application EP18173643A (EP), filed 2018-05-22
Publication number: EP3409545A1
Title: AUTOMATIC BRAKING SYSTEM FOR SLOW MOVING OBJECTS
Abstract: In accordance with one embodiment, a braking-system (10) suitable for use on an automated vehicle (12) is provided. The braking-system (10) includes a ranging-sensor (14), a braking-actuator (42), and a controller (36) in communication with the ranging-sensor (14) and the braking-actuator (42). The ranging-sensor (14) is used to detect a range-rate (16), a range (18), and a direction (20) of an object (22) proximate to a host-vehicle (12) when the object (22) resides in a field-of-view (24) of the ranging-sensor (14). The field-of-view (24) defines a conflict-zone (38) and a conflict-buffer (40) separate from the conflict-zone (38). The braking-actuator (42) is used to control movement (44) of the host-vehicle (12). The controller (36) determines a trail (46) of the object (22) based on the range (18) and the direction (20). The controller (36) further classifies the object (22) as slow-moving (26) based on a rate-threshold (48). The controller (36) further determines a tangent-vector (52) based on the trail (46). The controller (36) activates the braking-actuator (42) when the object (22) is slow-moving (26), the object (22) is detected within the conflict-buffer (40), and the tangent-vector (52) intersects the conflict-zone (38).
IPC codes: B60T   7/    22            A I
B60W  30/    08            A I
Claims: number: 1
text: A braking-system (10) suitable for use on an automated vehicle, said system (10) comprising:
number: 2
text: The system (10) in accordance with claim 1, wherein the controller (36) further determines the tangent-vector (52) at a point where the object (22) enters the conflict-buffer (40).
number: 3
text: The system (10) according to any one of the preceding claims, wherein the controller (36) predicts a future-path (56) of the object (22) based on the trail (46).
number: 4
text: The system (10) in accordance with claim 3, wherein the future-path (56) is a polynomial fit of the trail (46).
number: 5
text: The system (10) according to any one of the preceding claims, wherein the conflict-zone (38) is a projection of a travel-path (41) of the host-vehicle (12).
number: 6
text: The system (10) according to any one of the preceding claims, wherein the controller (36) does not activate the braking-actuator (42) when the object (22) is detected within the conflict-buffer (40) and the tangent-vector (52) does not intersect (54) the conflict-zone (38).
number: 7
text: The system (10) according to any one of the preceding claims, wherein the ranging-sensor (14) is a two-dimensional (2D) radar-sensor (28) or a lidar sensor(30)
number: 8
text: A method (200) of operating a braking braking-system (10) suitable for use on an automated vehicle, said method (200) comprising:
number: 9
text: The method (200) in accordance with claim 8, further comprising the step of determining (210) with the controller (36) the tangent-vector (52) at a point where the object (22) enters the conflict-buffer (40).
number: 10
text: The method (200) according to any one of the claims 8 or 9, further comprising the step of predicting with the controller (36) a future-path (56) of the object (22) based on the trail (46).
number: 11
text: The method (200) in accordance with claim 10, wherein the future-path (56) is a polynomial fit of the trail (46).
number: 12
text: The method (200) according to any one of the claims 8 to 11, wherein the conflict-zone (38) is a projection of a travel-path (41) of the host-vehicle (12).
number: 13
text: The method (200) according to any one of the claims 8 to 12, further comprising the step of preventing activation of the braking-actuator (42) by the controller (36) when the object (22) is detected within the conflict-buffer (40) and the tangent-vector (52) does not intersect (54) the conflict-zone (38).
number: 14
text: The method (200) according to any one of the claims 8 to 13, wherein the ranging-sensor (14) is a two-dimensional (2D) radar-sensor (28) or a lidar sensor (30).
number: 15
text: An automated vehicular braking system (110) comprising:
Office action: search_report, dated 2018-12-05
Prior art cited: ref_id: DE112012006878T5
ref_type: patent
severity: background
ref_id: DE112012006790T5
ref_type: patent
severity: background
ref_id: DE102016003089A1
ref_type: patent
severity: background
ref_id: DE112012006790T
ref_type: patent
severity: background
ref_id: DE112012006878T
ref_type: patent
severity: background
ref_id: DE102016003089
ref_type: patent
severity: background
Final disposition: pending (2018-12-05)