# US 10,501,073 B2 · Controlling a motor vehicle

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- Number: US 10,501,073 B2
- Document ID: US10501073B2
- Status: Granted
- Kind: B2
- Application number: 15/577,856
- Filed: 2016-05-09
- Published: 2018-05-17
- Granted: 2019-12-10
- Earliest claimed: 2015-06-17
- Assignees: Rovert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Stefan Nordbruch
- Web page: https://patentgrep.com/patent/US10501073B2

## CPC

- B60W 30/085: Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 2030/082: {Vehicle operation after collision}
- B60W 2540/00: Input parameters relating to occupants
- B60W 2540/10: Accelerator pedal position
- B60W 2540/18: Steering angle
- B60W 2540/26: Incapacity
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT

## Abstract

A method for controlling a motor vehicle includes driver-independently guiding the motor vehicle on a road, detecting an accident situation of the motor vehicle, detecting an attempt by the driver to intervene into the vehicle guidance, determining that the attempt to intervene is not an attempt to guide, and maintaining the guidance of motor vehicle.

## Claims

### Claim 1

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein the guidance is maintained and includes changing a guidance objective to a great protective function.

### Claim 2

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein the attempt to intervene includes an actuation of an immediately effective control component of the motor vehicle and the maintenance of the guidance includes effectuation of a counterforce on the control component.

### Claim 3 (depends on 2)

The method as recited in claim 2, wherein the control component includes one of a drive engine, a brake, or a steering system.

### Claim 4

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein the accident situation includes a collision of the motor vehicle with an object.

### Claim 5

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein the accident situation is detected when a collision of the motor vehicle with an object will likely take place before a maximum time predetermined for the transfer of the guidance of the motor vehicle to the driver has elapsed.

### Claim 6

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein the attempt to intervene is evaluated based on an observation of the driver.

### Claim 7 (depends on 6)

The method as recited in claim 6, wherein a level of attentiveness of the driver is determined before the accident situation is determined and an attempt by the driver to intervene within a period of time determined based on the level of attentiveness is determined not to be an attempt to guide.

### Claim 8

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein, in response to the detected accident situation, a prompt is output to the driver to take over the guidance of the motor vehicle.

### Claim 9

A method for controlling a motor vehicle, comprising:
driver-independently guiding the motor vehicle on a road;
detecting an accident situation of the motor vehicle;
detecting an attempt by the driver to intervene into the vehicle guidance;
determining that the attempt to intervene is not an attempt to guide; and
maintaining the guidance of motor vehicle;
wherein, in response to the detected accident situation, the guidance of the motor vehicle takes place in preparation for a collision of the motor vehicle with an object.