DE102009027535A1 - Device for supporting a Einschervorgangs in vehicles - Google Patents

Abstract

It is proposed a device for assisting a Einschervorgangs in vehicles in a gap, in particular when arranging between two vehicles, wherein means are provided for determining the position of the vehicle with respect to the vehicle surrounding infrastructure. According to the invention, a control unit is provided in order to receive data from at least one other vehicle and / or transmitter from the infrastructure surrounding the vehicle, and that the control unit is designed to calculate, based on the received data information, a gap for a shunting operation.

Description

State of the art

The The invention relates to a device for assisting a Einschervorgangs in vehicles in a gap according to the preamble of claim 1.

The Shearing vehicles, for example when changing lanes or overtaking requires the highest from the driver Concentration to collide with an object, such as a To avoid a foreign vehicle. Often it is perceived by the driver as difficult or unpleasant, a slowly overtaking vehicle ahead of this vehicle scissors again. For example, the driver has to decide whether there is a gap in the preceding traffic to collapse after the overtaking operation enough space for the vehicle has. About that In addition, the request is made to the driver in one possible short time in the gap to shear on to the following traffic on multi-lane roads not to hinder or on multi-lane roads the counter lane quickly free to do.

Known are devices that a driver of a vehicle at a Lane change, for example, for threading, retracting or extending from a expressway or to overtake a slow moving vehicle on a highway. such Devices relieve a driver of some of the necessary monitoring and decision-making.

to Capture the environment for a Einschervorgang is on a vehicle extensive sensors required. Nevertheless, it can cause problems, the environment and Detect third party vehicles to a sufficient extent.

Out For this reason, the present invention has the task a device for support a Einschervorgangs on vehicles to provide, in which the collection of especially third-party vehicles is improved.

The The object is solved by the features of claim 1.

advantageous Extensions of the invention are described in the dependent claims.

Disclosure of the invention

The The invention relates to a device for assisting a Einschervorgangs in vehicles in a gap from, in particular when classifying between two vehicles, wherein Means for determining the position of the vehicle with respect to the vehicle surrounding infrastructure are given.

Of the Core of the invention is that a control unit provided is to at least one other vehicle and / or a transmitter receive data from the infrastructure surrounding the vehicle, and that the control unit is designed based on the received data information about a gap for a Einschervorgang too to calculate.

With the concept of a "surrounding Infrastructure " preferably in the following streets, buildings and technical facilities for traffic control, such as a traffic signal or video camera understood.

For data reception for a Vehicle of at least one other vehicle is for example a Communication device for a well-known C2C (car-to-car) communication usable, through which, for example, vehicle-specific data, data of detected third party vehicles and / or foreign data between two Transfer vehicles wirelessly can be.

Furthermore can For example, data from the infrastructure, such as image data from a video camera or contact or induction loops by means of Communication device to be sent directly to a vehicle. This data transfer from the infrastructure is also known as C2I (Car-to-Infrastructure) communication.

advantage the device according to the invention is that the reception of data from third-party vehicles and / or from the Infrastructure the required information for determining the position a gap for one Einschervorgang a vehicle continuously updated are available can and derive therefrom possibly more exact values for a Einschervorgang than by EGO sensors, i. H. Readings from your own Vehicle be provided. In the following, this is for a Einschervorgang to be supported Vehicle as "EGO vehicle" and the other vehicles participating in the traffic referred to as "other vehicles".

In a preferred embodiment of the invention, it is provided that the control unit is designed to receive data via a gap for a Einschervorgang in flowing traffic and evaluate. As a result, a driver of an EGO vehicle can be assisted in the event of a lane change in flowing traffic or in an overtaking process. This reduces the risk of col lisions with participating vehicles in traffic. The evaluation of received data is preferably realized in such a way that the driver can be informed in real time about the flowing traffic and / or a gap to be gleaned.

In one over this preferred embodiment of the invention is provided that The control unit is designed to measure the size of a gap between two vehicles to determine. The size of a Gap between Two vehicles, for example, in flowing traffic can through the Recording and evaluation of the transmitted Position data of the corresponding foreign vehicles are determined. The position data can for example from satellite positioning systems, such as GPS (Global Positioning System) of foreign vehicles are determined. Furthermore, the determination of the speed of foreign vehicles on the direct data reception in a C2C (car-to-car) communication or by evaluation of the transmitted Position data possible. Also a direct data reception of necessary position and / or speed data from the infrastructure, for example from a video camera feasible. With that you can the driver of the EGO vehicle only sufficiently large gaps Einscher be signaled, which with a definable safety distance between the EGO vehicle and allow the foreign vehicles a collision-free Einscher.

Preferably the invention provides in a further embodiment, that the control unit for Determination of a gap for the Einschervorgang is trained to use on-board data. The EGO vehicle can be adjusted by means of a sensor system arranged on the vehicle, such as video, radar and / or Lidar sensors a distance measurement to other vehicles and / or perform a speed measurement and the acquired data to the control unit for size calculation a gap hand off. This has the advantage that additional data in addition to the C2C or C2I communications are available. This will be the Security of the system increased. The in-vehicle data can for example an internal review of the gap used by the control body to be used dangerous Vehicle situation to avoid miscalculations.

It can Even vehicles are determined that use this communication technology (C2C / C2I) do not have.

moreover is provided in a further embodiment of the invention that the control unit for determining a gap for the Einschervorgang so is configured, vehicle data in combination with received To use external data. The control unit uses this not exclusively Data that is captured by the vehicle's own sensors - rather These will be in addition receiving foreign data, such as navigation data via a Satellite positioning system, such as GPS (Global Positioning System) combined. This has the advantage that the control unit to calculate a gap not exclusively limited to on-board data is. The combination of data from different data sources can the accuracy of the result and the safety of the system improve.

In one moreover preferred embodiment of the invention is provided that communication means for one Receiving and / or sending data from at least one other vehicle and / or a transmitter provided by the infrastructure surrounding the vehicle are. These means of communication allow a reception and a Sending data to and from other vehicles, for example also data for support a Einschervorgangs available to make, for example, foreign vehicles want to do.

In a further advantageous embodiment, the invention provides that the control means are designed to communicate with Aktuatormitteln a semiautonomous or fully autonomous Einschervorgang to make a vehicle.

such Actuator means are, for example, longitudinal and / or transverse guiding devices to carry out a lane change of the vehicle from a first lane a second lane. A lane change may be due to the control unit the received data for the EGO vehicle is generated. In a semiautonomous lane change it is advantageous that, for example, the driver during the to be carried out by him Einschervorgangs indicates a dangerous situation based on the calculated information becomes. A fully autonomous Einschervorgang can by the Aktuatormittel accomplished be a manual intervention of the driver during the Einschervorgangs possible at any time is.

In a further, preferred embodiment of the invention, it is provided that the control unit is designed to calculate distances between foreign vehicles and / or between foreign vehicles and the vehicle to be calibrated (EGO vehicle). This has the advantage that, for example, in the case of a large transverse offset of vehicles moving side by side, these vehicles are to be moved back to the longitudinal component of the vehicle Way of the EGO vehicle until a gap is safely reached.

moreover is provided in a further embodiment of the invention that the control unit is designed to vehicle dimensions of other vehicles for the Positioning a gap too consider. The calculation of vehicle dimensions of the foreign vehicles, for example by on-board sensors and / or received data infrastructure or foreign vehicles. It is also conceivable that foreign vehicles communicate their vehicle length directly.

moreover is provided in a further embodiment of the invention that the control unit is designed to have a speed of To calculate foreign vehicles.

The position data of the foreign vehicles may be at a time T1 and a time T2 for calculating their speed to the control unit in the vehicle 5 be sent. This improves the accuracy of speed data over in-vehicle speedometer data.

Preferably comprises the control unit in a further embodiment of the Invention a signaling unit that a vehicle occupant signaled a lashing room visually, acoustically and / or haptically. The optical signaling is, for example, with an EGO vehicle arranged display, such as a HUD display (Head-Up Display) executed. Haptic signaling can be achieved, for example, by vibration signaling be made.

A optical, acoustic and / or haptic signaling can be used for all Driving situations during a Einschervorgangs or overtaking process may be provided.

Further Features of the invention will become apparent from the following description of the figures out.

there shows:

1 : a schematic representation of a Einschervorgangs a vehicle between two foreign vehicles;

2 a gap between two foreign vehicles on a two-lane roadway;

3 : A schematic representation of the receiving and transmitting data for a device for assisting a Einschervorgangs on vehicles in plan view.

In 1 is a schematic representation of a Einschervorgangs a vehicle 5 (EGO vehicle), where the EGO vehicle 5 , starting from a lane 2 , a Einschervorgang in a gap 6 on a lane 1 plans. The vehicle 5 has a device according to the invention, which is a control unit 20 includes to a driver of the vehicle 5 to assist in the complex task of a Einschervorgangs. In the present embodiment, a Einschervorgang between two vehicles is described in flowing traffic.

The Einschervorgang the vehicle 5 is subdivided, for example, into four individual sub-operations which "detect a gap 6 ", Measuring a gap 6 ", The" hedging a blind spot "and the actual" Einschervorgang "include. The control unit 20 supports the driver, for example, in the sub-operations "Gap 6 recognize "," gap 6 measured "and" secure the blind spot ". The "Einschervorgang" can manually, semiautonomically by the control unit 20 in combination with the driver or fully autonomous by the control unit 20 be executed. For a size calculation and position determination of an existing gap 6 through the control unit 20 can this data from at least one other vehicle 3 . 4 receive. For receiving data instructs the control unit 20 means of communication 21 on.

It is conceivable that the means of communication 21 in the vehicle 5 additionally adapted for sending data, thereby providing data communication between the vehicle 5 and the foreign vehicles 3 . 4 is possible. This allows the vehicle 5 Data to the other vehicle 3 . 4 transmit which of one in the other vehicle 3 . 4 arranged control unit 20 can be used.

In addition, the control unit 20 Vehicle dimensions of other vehicles 3 . 4 and their speed based on that of a foreign vehicle 3 . 4 take into account received data. From the received data, the control unit 20 the position and size of a gap 6 calculate and the driver in a Einschervorgang of his vehicle 5 support by an appropriate signaling.

In 2 is a schematic representation of a roadway with two adjacent lanes 1 . 2 shown, being on the lane 1 a gap in question 6 between two foreign vehicles 3 . 4 is shown. The vehicle 5 (EGO vehicle) drives on the lane 2 at a distance behind the other vehicle 4 on the lane 1 , The in the vehicle 5 arranged control unit 20 For example, it receives data from the foreign vehicle 4 where the data is information, for example about the speed, the vehicle length and the position of the other vehicle 4 contain.

The required information, such as distance or speed of the other vehicle 3 to the EGO vehicle 5 be in the embodiment by an on-board sensor of the EGO vehicle 5 determined in 3 is described in more detail. It is conceivable, the required data directly from the other vehicle 3 and / or by receiving data from the infrastructure.

The control unit 20 calculated from the received or detected data of the other vehicles 3 . 4 the position and size of a gap 6 between the foreign vehicles 3 . 4 This information is preferably the driver of the vehicle 5 be signaled.

A vehicle driver of the vehicle 5 Due to the signaled information, a manual entry into a sufficiently large gap can occur 6 To run. The vehicle 5 changes from the lane 2 into the gap 6 that have a sufficient safety distance to the foreign vehicles 3 . 4 having.

A semi-autonomous Einschervorgang can by the driver with the support of the control unit 20 be executed. The control unit 20 Signals the vehicle driver a possible collision with another vehicle 3 . 4 during the Einschervorgangs.

In a fully autonomous Einschervorgang the driver can by in the vehicle 5 arranged actuator means are supported. There is always the possibility of manual intervention by the driver during the autonomous or semiautonomous Einschervorgangs.

In 3 is a schematic representation of a data flow shown in plan view, wherein
the arrows symbolize a respective data flow.

Between the vehicles 3 . 4 . 5 is due to the C2C (Car-To-Car) communication a data flow of data (arrow 14 . 15 . 16 ) from and to any vehicle possible. The data (arrow 14 . 15 . 16 ) contain information for determining the position and size of a gap 6 For example, vehicle positions, vehicle speeds, inter-vehicle distances, and vehicle sizes.

In addition, a data flow of data (arrow 17 . 18 . 19 ), starting from, for example, in the infrastructure arranged cameras 9a . 9b to the vehicles 3 . 4 . 5 possible. The data (arrow 17 . 18 . 19 ) contain, for example, information about speeds of passing vehicles 3 . 4 , Distances between the vehicles 3 . 4 and / or information about the size of a gap 6 , if necessary, only image data will be transmitted.

In addition, there is a data flow from a foreign data transmitter 10 , which can be representative of several satellites, to the vehicles 3 . 4 . 5 possible.

The data (arrow 11 to 19 ) can be used to calculate the position and size of a gap 6 taking into account the number of received data from different data sources for the accuracy of a position calculation of a gap 6 can improve.

The in the vehicle 5 arranged control unit 20 receives, for example, from the foreign vehicles 3 . 4 Data about their position. In addition, for example, the data may also receive information about vehicle dimensions and speed from the control unit and position calculation of a gap 6 be taken into account.

With the received data can be the position and the size of a gap 6 for a collision-free Einschervorgang the vehicle 5 determine.

For an exemplary position determination and calculation of a gap 6 is used as a starting point that the vehicle 5 as well as the foreign vehicles 3 . 4 on the lane 1 drive a speed of 80 km / h. That demand foreign vehicle 3 on the lane 1 drives at a distance of 50 m to the vehicle 5 ahead. The rear foreign vehicle 4 drives at the height of the vehicle 5 , An available route until the vehicle is shored up 5 is 200 meters. From this information is provided by the control unit 20 calculated that the middle of the gap in question 6 at a distance of 25 m from the vehicle 5 away. There is a constant speed of the foreign vehicles 3 . 4 provided that reduces the size of the gap 6 not changed. Based on a vehicle length of 5 m, the size of the gap includes 6 after deduction of two vehicle half-lengths of 45 m. It follows that after deducting the vehicle length of the vehicle 5 a safety distance to the preceding third party vehicle 3 and the following foreign vehicle 4 of 20 m each is present. The in the vehicle 5 arranged signaling means 23 signal the driver of the vehicle 5 the position of the gap 6 , To carry out a collision-free shearing process within the distance of 200 m ren, becomes the EGO vehicle 5 with an average speed of 2 m / s. After five seconds and about 136 m traveled distance is the gap center 6 from the vehicle 5 achieved and the Einschervorgang example, manually by the driver or semiautonom by drivers and in the vehicle 5 arranged actuator means 23 or fully autonomous by the actuator means 23 executed.

In addition, the vehicle has 5 via an on-board sensor system 8th , which may include, for example, video, radar and / or lidar sensors to provide a distance measurement to the foreign vehicles 3 . 4 perform.

Another way to determine the position and size of a gap 6 between two foreign vehicles 3 . 4 is the receipt of data from the foreign vehicles 3 . 4 in combination with the receipt of data from the infrastructure. The combination of these data can increase the security and accuracy of the system.

In addition, the vehicle driver of the vehicle 5 when shearing the vehicle 5 into the gap 6 be supported by the fact that the cameras 9a . 9b the infrastructure data (arrow 17 to 18 ) about a visually determined gap 6 between two foreign vehicles 3 . 4 directly to the control unit 20 in the vehicle 5 sends.

Furthermore, to the foreign vehicles 3 . 4 sent foreign data (arrow 11 . 12 ), such as GPS data to the vehicle 5 be forwarded and with the detected data (arrow 14 . 15 ) of the vehicle's own sensors 8th for determining the position and size of a gap 6 from the control unit 20 be taken into account.

Due to the control unit according to the invention 20 for receiving data (arrow 14 to 16 ) from a foreign vehicle 3 . 4 , Data (arrow 11 to 13 ) from a foreign data transmitter 10 or data (arrow 17 . 18 . 19 ) from a transmitter from the infrastructure, such as a camera system 9a . 9b can in particular in combination a position and size calculation of the gap 6 be carried out comparatively accurate.

The aforementioned sub-process for determining a "dead beck" is also feasible by receiving or sending corresponding data information of the data sources described here. For example, the vehicle 5 Car-to-Car Communication (C2C) communicates the position of a vehicle approaching from behind to avoid a collision.

In addition, the risk of collision can be during an overtaking of the vehicle 5 with a vehicle approaching from behind by a car-to-infrastructure communication (C2I), for example, by the cameras located at the edge of the roadway 9a . 9b Speed information of the approaching vehicle to the vehicle 5 report.

In addition, the on-board sensors 8th of the vehicle 5 a from behind the vehicle 5 Detect approaching vehicle and notify the vehicle driver too low safety distance.

Claims (11)

Device for assisting a vehicle insertion process ( 3 . 4 . 5 ) into a gap ( 6 ), in particular when arranging between two vehicles ( 3 . 4 ), wherein means for determining the position of the vehicle ( 3 . 4 . 5 ) with respect to the vehicle ( 3 . 4 . 5 ) are provided, characterized in that a control unit ( 20 ) is provided to at least one other vehicle ( 3 . 4 ) and / or a transmitter ( 9a . 9b ) from which the vehicle ( 3 . 4 . 5 ) surrounding infrastructure data ( 11 to 19 ) and that the control unit ( 20 ) is designed on the basis of the received data ( 11 to 19 ) Information about a gap ( 6 ) to calculate for a Einschervorgang. Device according to claim 1, characterized in that the control unit ( 20 ) is designed to store data ( 11 to 19 ) over a gap ( 6 ) to calculate for a Einschervorgang in flowing traffic. Device according to one of the preceding claims, characterized in that the control unit ( 20 ) is designed to measure the size of a gap ( 6 ) between two vehicles ( 3 . 4 ). Device according to one of the preceding claims, characterized in that the control unit ( 20 ) to determine a gap ( 6 ) is designed for the Einschervorgang to use on-board data. Device according to one of the preceding claims, characterized in that the control unit ( 20 ) to determine a gap ( 6 ) is designed for the Einschervorgang such, in-vehicle data in combination with received foreign data ( 11 to 13 ). Device according to one of the preceding claims, characterized in that communication means ( 21 ) for a reception and / or a Sending data ( 11 to 19 ) of at least one other vehicle ( 3 . 4 ) and / or a transmitter ( 9a . 9b ) from which the vehicle ( 3 . 4 . 5 ) surrounding infrastructure are provided. Device according to one of the preceding claims, characterized in that the control means ( 20 ) are designed, in conjunction with actuator means ( 24 ) a semiautonomous or fully autonomous Einschervorgang a vehicle ( 3 . 4 . 5 ). Device according to one of the preceding claims, characterized in that the control unit ( 20 ) for calculating distances between third-party vehicles ( 3 . 4 ) and / or between third-party vehicles ( 3 . 4 ) and the collapsing vehicle ( 5 ) is trained. Device according to one of the preceding claims, characterized in that the control unit ( 20 ) is designed to measure the vehicle dimensions of other vehicles ( 3 . 4 ) for the positioning of a gap ( 6 ). Device according to one of the preceding claims, characterized in that the control unit ( 20 ) is designed to control a speed of foreign vehicles ( 3 . 4 ) to calculate. Device according to one of the preceding claims, characterized in that the control unit ( 20 ) a signaling unit ( 23 ), which signals a vehicle occupant visually, acoustically and / or haptically a Einscherraum.

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