Method and device for automatically emergency stopping
A method for automatically emergency stopping a motor vehicle from a starting speed to a standstill by a braking device of the motor vehicle is provided. The braking device is actuated to carry out a delay profile with at least two delay phases. During a delay increase phase the delay until a threshold delay is increased and during a delay decrease phase, lasting until standstill, the delay is reduced to zero. The temporal courses of the delay are determined during the delay increase and the delay decrease at least sectionally as nth degree polynomials, where n>0, depending on the starting speed, in such a way that a stopping duration, which represents a time duration necessary for emergency stopping, does not fall below a predetermined minimum stopping duration and a distance covered during the stopping duration does not exceed a predetermined maximum stopping distance.
1. A method for automatically emergency stopping a motor vehicle from a starting speed to a standstill by a braking device of the motor vehicle, the method comprising:
determining that the vehicle should be automatically stopped; and
actuating, responsive to the determination that the vehicle should be automatically stopped, the braking device to carry out a delay profile having at least two delay phases,
wherein, during a delay increase phase, a first delay until a threshold delay is increased and during a delay decrease phase a second delay is reduced to zero,
wherein temporal courses of the delay are determined during the delay increase and the delay decrease at least sectionally as nth degree polynomials, where n>0, depending on a starting speed of the vehicle in such a way that a stopping duration, which represents a time duration necessary for emergency stopping, does not fall below a predetermined minimum stopping duration and a distance covered during the stopping duration does not exceed a predetermined maximum stopping distance.
2. The emergency stopping method of claim 1 , wherein a delay stopping phase is run through between the delay increase phase and the delay decrease phase, wherein in the delay stopping phase the delay does not deviate from the threshold delay by more than a predetermined value.
3. The emergency stopping method of claim 1 , the threshold delay is a function of the starting speed and exceeds a predetermined minimum delay.
4. The emergency stopping method of claim 1 , wherein the first delay during the delay increase phase increases with an increase jolt, which is selected between a minimum increase jolt and a maximum increase jolt, and wherein the minimum increase jolt is between 0.4 and 0.5 m/s 3 , and the maximum increase jolt is between 0.7 and 0.8 m/s 3 .
5. The emergency stopping method of claim 1 , wherein the second delay during the delay decrease phase decreases with a decrease jolt, which is selected between a minimum decrease jolt and a maximum decrease jolt, wherein the minimum decrease jolt is between −0.4 and 0.5 m/s 3 , and the maximum decrease jolt is between −0.7 and −0.8 m/s 3 .
6. The emergency stopping method of claim 5 , wherein
the increase jolt and the decrease jolt are chosen to be constant when the starting speed is below an upper threshold speed,
the minimum delay is determined as the threshold delay and the duration of the delay stopping phase as a function of the starting speed when the starting speed is below a lower threshold speed, wherein the stopping duration is allowed to fall below the predetermined minimum stopping duration,
the threshold delay is determined as a function of the starting speed in such a way that the minimum stopping duration is not fallen below when the starting speed is above the lower threshold speed and below an average threshold speed,
the threshold delay during the delay stopping phase corresponds to a maximum delay and the duration of the delay stopping phase is determined as the function of the starting speed when the starting speed is above the average threshold speed and below the upper threshold speed.
7. The emergency stopping method of claim 6 , wherein when the starting speed is above the upper threshold speed, the threshold delay, the maximum delay, or the increase jolt and the decrease jolt exceed respective maximum values, which are determined as a function of the starting speed in such a way that the maximum stopping distance is not exceeded.
8. The emergency stopping method of claim 7 , wherein the increase jolt and the decrease jolt are selected as a function of the starting speed.
9. The emergency stopping method of claim 1 , wherein after triggering the emergency stopping method, a roll phase is performed before the delay increase phase, wherein in the roll phase a drive torque of a drive device of the motor vehicle is set to zero and a braking actuation is performed with to prevent a vehicle acceleration caused by externally acting forces.
10. A device for automatically emergency stopping a motor vehicle from a starting speed to a standstill by a braking device of the motor vehicle, wherein the device is configured to:
actuate the braking device to carry out a delay profile having at least two delay phases,
wherein, during a delay increase phase, a first delay until a threshold delay is increased and during a delay decrease phase a second delay is reduced to zero,
wherein temporal courses of the delay are determined during the delay increase and the delay decrease at least sectionally as nth degree polynomials, where n>0, depending on a starting speed of the vehicle in such a way that a stopping duration, which represents a time duration necessary for emergency stopping, does not fall below a predetermined minimum stopping duration and a distance covered during the stopping duration does not exceed a predetermined maximum stopping distance,
wherein the device is connected to a sensor that records the driving speed and to a control device for a drive device of the motor vehicle, and to a control device for a braking system.