EP1887540A1 - Device and method for avoiding rear-end collisions - Google Patents
Device and method for avoiding rear-end collisions Download PDFInfo
- Publication number
- EP1887540A1 EP1887540A1 EP07013350A EP07013350A EP1887540A1 EP 1887540 A1 EP1887540 A1 EP 1887540A1 EP 07013350 A EP07013350 A EP 07013350A EP 07013350 A EP07013350 A EP 07013350A EP 1887540 A1 EP1887540 A1 EP 1887540A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- determined
- motor vehicle
- vehicle
- probability
- relative speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
Definitions
- the invention relates to a device and a method for avoiding rear-end collisions of motor vehicles.
- a method for avoiding rear-end collisions by the observation of the rear traffic volume of a first motor vehicle wherein the own speed of the first motor vehicle is determined, the relative speed and distance between the first motor vehicle and a subsequent motor vehicle is determined and a time is calculated, which remains, until the two motor vehicles would collide with one another, taking into account a predetermined value for the deceleration of the second motor vehicle and triggering a measure on the first motor vehicle when the calculated time is below a predetermined value.
- a system for avoiding too short a distance from a following vehicle to a preceding vehicle, wherein the preceding vehicle has a device for determining the distance and the relative speed to the following vehicle, wherein based on the determined distance and the relative speed, a minimum distance is determined and Falling below the minimum distance measures are taken to avoid a further reduction of the distance, in order to avoid a possible rear-end collision.
- the technical problem underlying the invention is to provide a device and a method for avoiding rear-end collisions of motor vehicles, which have an improved warning behavior.
- the device for avoiding rear-end collisions of motor vehicles comprises a sensor system with which at least the relative speed between a separate motor vehicle and a following motor vehicle is determined or calculated, depending on from the relative speed, a parameter can be determined by an evaluation unit, which is compared with a stored comparison value, wherein in a deviation from the comparison value, a measure is initiated to reduce the risk of collision, wherein by means of the sensor occupancy of neighboring tracks can be determined from the occupancy of the neighboring lanes a probability of an overtaking of the following motor vehicle is determined and the determined parameter and / or the stored comparison value is selected depending on the probability of an overtaking by the evaluation.
- the invention is based on the following findings, which relate to the advantages and disadvantages of different system activations.
- a first possibility is that the system becomes active if the stopping distance of the following vehicle calculated by the system is smaller than the distance to the following vehicle measured by the environment sensors of the system.
- stopping route is here meant the way the follower vehicle travels until the relative speed of the follower vehicle with respect to the own vehicle is zero.
- the braking deceleration depends on the brake, tire and road conditions.
- the approach speed can be detected by the environment sensors of the system: the braking deceleration of the following vehicle can be estimated by the system taking into account data of other systems installed in the own vehicle. These other systems include brake system, rain light sensor, road condition sensor and / or camera system.
- the response time from the driver of the follower vehicle can be estimated by the system.
- a dead time of the braking system and a hesitant braking intervention by the driver of the follower vehicle and the reaction of a brake assistant can also be taken into account in a more detailed calculation.
- TTC Time To Collision
- the advantage of this method of calculating the warning time is that false warnings about shunting vehicles are less frequent.
- the collision speed of the rear-end collision and, with it, the severity of the accident are in any case reduced.
- rear-end collisions at low and medium relative speeds can be avoided. At the latest at high relative speeds, however, the warning comes so late that the rear-end collision can no longer be prevented.
- the invention begins by determining a probability for an overtaking operation, for which purpose an occupancy of neighboring tracks is detected. In addition to the pure existence of objects in the neighboring track, their speed is preferably also recorded. If the determination now shows that the likelihood of an overtaking process is low, an early warning is given, for example by using the stopping distance as the parameter. Accordingly, the "Time To Collision" is then used, for example, as parameter with a high passing probability. The likelihood of the overtaking process is thus used to select a parameter or, if the parameter itself is not changed, to adjust the stored comparison value. At high Studentshöl crosskeit so the limit or comparison value for the distance or the time is reduced or vice versa low set high. In these cases deviation is to be understood as falling short of the given comparison value.
- the adaptation to the probability can be binary, stepped or continuous.
- the measures for avoiding the rear-end collision can be complex.
- interventions in the driving dynamics of the preceding and / or following vehicle are also conceivable, as are activations of passive and / or active occupant protection devices.
- the sensor system for detecting the occupancy of the neighboring tracks comprises a radar sensor and / or a camera and / or an ultrasound sensor, wherein preferably on the sensors existing vehicle assistance systems such as camera of the lane departure warning, or a video-based parking or reversing aid, radar or Lidar Adaptive Cruise Control or ultrasonic sensors Park Distance Control, lane change assistance systems or a park steering assistance system is used.
- vehicle assistance systems such as camera of the lane departure warning, or a video-based parking or reversing aid, radar or Lidar Adaptive Cruise Control or ultrasonic sensors Park Distance Control, lane change assistance systems or a park steering assistance system is used.
- vehicle surroundings conditions are determined by means of the sensor system, such as crash barriers, curbs or green strips.
- the device is part of or associated with a lane change assistance system, since the information about the likelihood of an overtaking process is also of interest for the lane change assistance system.
- the approach warning device may intervene as described above.
- the probability is calculated whether and, if so, on which neighboring lane the approaching vehicle will overtake. From an adjustable probability limit, the driver is warned against a lane change on the page in question.
- the warning can be known to be e.g. by a warning lamp in the exterior mirror or a haptic steering torque done.
- the distance to the following motor vehicle is detected, wherein at a relative speed of zero, a warning occurs when the distance is smaller than a minimum distance.
- the time gap between the own vehicle and the following vehicle preferably serves as a triggering criterion.
- the airspeed is communicated to the system by other control devices of the own vehicle.
- the distance to the following vehicle is determined by the environment sensors of the system.
- the time gap has to be set in such a way that on the one hand a warning is given ahead of critical situations and on the other hand unnecessary triggers are prevented.
- a braking of the own vehicle can be taken into account.
- the warning to the rear traffic then takes place earlier.
- the braking deceleration of the own vehicle is communicated to the system by the brake system.
- a possible embodiment is that to avoid false alarms a hazard warning or the triggering of an actuator only takes place when the own vehicle delays itself. This can also be done dynamically, i. H. Below a speed which can be parameterized, the system reacts even if the own vehicle does not decelerate. Above this speed, your own vehicle reacts with warning or actuators only if the vehicle itself also delays.
- the known emergency brake warning flashing can be extended.
- rear lights are actuated for the purpose of warning the following traffic as soon as a predetermined upper braking deceleration of the own vehicle is exceeded.
- the system is extended by activating only if the environment sensors of the system recognize a follower vehicle in the lane behind the driver's own vehicle. This avoids unnecessary warnings.
- 1a-g show the different scenarios for the detection of an occupied adjacent lane on the example of a vehicle with sensors that have a detection area, which is behind and left and right next to the own vehicle.
- the vehicle is here a left-hand drive, and the planned overtaking should be left. Plotted in white is the relevant monitored area. Listed are only the cases in which a follower vehicle, which drives on the same lane as the own vehicle, approaches the own vehicle from behind.
- the adjacent lane is then occupied when a vehicle is located on the secondary lane between the follower vehicle and the own vehicle and in this case Fig. 1a can fall back or Fig. 1b drives at the same speed as the own vehicle or Fig. 1c faster than the own vehicle, but slower than the following vehicle is driving or Fig. 1d as fast as the following vehicle next to or just before the following vehicle travels. Furthermore, the adjacent lane is then occupied when Fig. 1e is a vehicle behind the follower vehicle and on the secondary lane approaches from behind so fast that the following vehicle can not safely change the lane. Furthermore, the adjacent lane is then occupied when Fig. 1f drives a vehicle on the secondary lane as oncoming traffic or when Fig. 1g the adjacent lane is occupied by structural measures such as crash barriers or posts.
- a planned overtaking process on the right side can also be taken into account in the warning strategy.
- scenarios for a vehicle with additional sensors which also detect the area in front of the own vehicle, can be set up.
- FIG. 2 shows a schematic block diagram of a device 1 for avoiding rear-end collisions, which is part of a lane change assistance system.
- the device 1 comprises an evaluation unit 2.
- the evaluation unit 2 is designed with different sensors 3-8 and 9-12.
- the sensors 3-8 serve to detect objects in neighboring tracks including their speed.
- the sensor systems 3-8 are, for example, in detail a camera 3 of a lane departure warning system, a radar sensor 4 of an adaptive cruise control, ultrasonic sensors 5 of a parking distance control, ultrasonic sensors 6 of a park assist system, a radar sensor 7 and / or a camera Lane change assistance system and a camera 8 for monitoring the rear traffic. It is understood that it is not necessary for the invention that all mentioned systems or sensors are present.
- the sensor systems are a braking system 9, a rain-light sensor 10, a road condition sensor 11 and a camera system 12, wherein also here not necessarily all sensors 9-12 must be present.
- the data of the sensors 9-12 are taken into account in particular in the calculation of the stopping distance.
- the sensors 3-8 provide their data and / or preprocessed data to the evaluation unit 2, which determines among other things a probability of an overtaking operation. Further, the evaluation unit 2 determines a parameter which is compared with a stored comparison value. The parameter is for example a "time to collision" or a stopping distance. If the determined parameter falls short of the predetermined comparison value, the evaluation unit 2 triggers a measure by activating an actuator system 13 which, for example, is a flashing light and / or an active and / or passive occupant protection device and / or a control device for influencing the longitudinal dynamics of the vehicle Motor vehicle is. Depending on the determined probability of a passing process, the evaluation unit selects either a different parameter or a different comparison value. The important thing is to be warned earlier if the probability of overtaking is low, and later if the probability of overtaking is high.
- an actuator system 13 which, for example, is a flashing light and / or an active and / or passive occupant protection device and / or a control device for influencing
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Alarm Systems (AREA)
- Air Bags (AREA)
- Communication Control (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur Vermeidung von Auffahrunfällen von Kraftfahrzeugen.The invention relates to a device and a method for avoiding rear-end collisions of motor vehicles.
Aus der
Aus der
Ausgehend von diesem Stand der Technik liegt der Erfindung das technische Problem zugrunde, eine Vorrichtung und ein Verfahren zur Vermeidung von Auffahrunfällen von Kraftfahrzeugen zu schaffen, die ein verbessertes Warnverhalten aufweisen.Based on this prior art, the technical problem underlying the invention is to provide a device and a method for avoiding rear-end collisions of motor vehicles, which have an improved warning behavior.
Die Lösung des technischen Problems ergibt sich durch die Gegenstände mit den Merkmalen der Ansprüche 1 und 6. Weitere vorteilhafte Ausgestaltungen ergeben sich aus den Unteransprüchen.The solution to the technical problem results from the objects with the features of
Hierzu umfasst die Vorrichtung zur Vermeidung von Auffahrunfällen von Kraftfahrzeugen eine Sensorik, mit der mindestens die Relativgeschwindigkeit zwischen einem eigenen Kraftfahrzeug und einem nachfolgenden Kraftfahrzeug ermittelt oder berechnet wird, wobei in Abhängigkeit von der Relativgeschwindigkeit ein Parameter durch eine Auswerteeinheit ermittelbar ist, der mit einem abgelegten Vergleichswert verglichen wird, wobei bei einer Abweichung vom Vergleichswert eine Maßnahme eingeleitet wird, um die Gefahr eines Auffahrunfalls zu reduzieren, wobei mittels der Sensorik eine Belegung von Nachbarspuren ermittelbar ist, aus der Belegung der Nachbarspuren eine Wahrscheinlichkeit für einen Überholvorgang des nachfolgenden Kraftfahrzeuges ermittelt wird und der ermittelte Parameter und/oder der abgelegte Vergleichswert in Abhängigkeit von der Wahrscheinlichkeit für einen Überholvorgang von der Auswerteeinheit gewählt wird. Der Erfindung liegen dabei folgende Erkenntnisse zugrunde, die sich auf die Vor- und Nachteile unterschiedlicher Systemaktivierungen beziehen.For this purpose, the device for avoiding rear-end collisions of motor vehicles comprises a sensor system with which at least the relative speed between a separate motor vehicle and a following motor vehicle is determined or calculated, depending on from the relative speed, a parameter can be determined by an evaluation unit, which is compared with a stored comparison value, wherein in a deviation from the comparison value, a measure is initiated to reduce the risk of collision, wherein by means of the sensor occupancy of neighboring tracks can be determined from the occupancy of the neighboring lanes a probability of an overtaking of the following motor vehicle is determined and the determined parameter and / or the stored comparison value is selected depending on the probability of an overtaking by the evaluation. The invention is based on the following findings, which relate to the advantages and disadvantages of different system activations.
Eine erste Möglichkeit ist, dass das System aktiv wird, wenn der vom System berechnete Anhalteweg des Folgefahrzeugs kleiner ist als der von den Umfeldsensoren des Systems gemessene Abstand zum Folgefahrzeug. Mit Anhalteweg ist hierbei der Weg gemeint, den das Folgefahrzeug zurücklegt, bis die Relativgeschwindigkeit des Folgefahrzeuges in Bezug auf das eigene Fahrzeug gleich Null ist.A first possibility is that the system becomes active if the stopping distance of the following vehicle calculated by the system is smaller than the distance to the following vehicle measured by the environment sensors of the system. By stopping route is here meant the way the follower vehicle travels until the relative speed of the follower vehicle with respect to the own vehicle is zero.
Der Anhalteweg s lässt sich näherungsweise aus Annäherungsgeschwindigkeit V0, Bremsverzögerung aB und Reaktionszeit tR wie folgt berechnen: s = V0· tR + V0 2 /(2 · aB). Die Bremsverzögerung ist hierbei abhängig vom Bremsen-, Reifen- und Straßenzustand.The stopping distance s can be calculated approximately from the approaching speed V 0 , the braking deceleration a B and the reaction time t R as follows: s = V 0 * t R + V 0 2 / (2 * a B ). The braking deceleration depends on the brake, tire and road conditions.
Die Annäherungsgeschwindigkeit kann durch die Umfeldsensoren des Systems erfasst werden: Die Bremsverzögerung des Folgefahrzeuges kann durch das System unter Berücksichtigung von Daten anderer Systeme, welche im eigenen Fahrzeug verbaut sind, abgeschätzt werden. Diese anderen Systeme sind beispielsweise Bremssystem, Regen-Licht-Sensor, Straßenzustands-Sensor und/oder Kamera-System. Die Reaktionszeit vom Fahrer des Folgefahrzeuges kann durch das System geschätzt werden.The approach speed can be detected by the environment sensors of the system: the braking deceleration of the following vehicle can be estimated by the system taking into account data of other systems installed in the own vehicle. These other systems include brake system, rain light sensor, road condition sensor and / or camera system. The response time from the driver of the follower vehicle can be estimated by the system.
Eine Todzeit des Bremssystems und ein zögerlicher Bremseingriff vom Fahrer des Folgefahrzeuges und die Reaktion eines Bremsassistenten kann in einer genaueren Rechnung ebenfalls mit berücksichtigt werden.A dead time of the braking system and a hesitant braking intervention by the driver of the follower vehicle and the reaction of a brake assistant can also be taken into account in a more detailed calculation.
Vorteil dieser Methode zur Berechnung des Aktivierungszeitpunktes ist es, dass die SystemAktivierung, also u.a. die Warnung an den Fahrer des Folgefahrzeuges beispielsweise durch Blinklichter, in der Regel so frühzeitig erfolgt, das bei richtiger Reaktion des Fahrers des Folgefahrzeuges ein Auffahrunfall verhindert werden kann. Nachteil dieser Methode ist, dass bei überholenden Fahrzeugen, welche sich von hinten mit hoher Geschwindigkeit nähern und welche erst kurz vor dem eigenen Fahrzeug die Fahrspur wechseln, es regelmäßig zu Fehlwarnungen kommen wird.Advantage of this method for calculating the activation time is that the system activation, ie, inter alia, the warning to the driver of the follower vehicle, for example, by flashing lights, usually done so early that the correct reaction of the driver of the follower vehicle collision can be prevented. Disadvantage of this method is that with overtaking vehicles, which approach from behind with high speed and which change only shortly before the own vehicle the lane, it will come regularly to false warnings.
Ein anderes Kriterium zur Systemaktivierung kann die Berechnung einer Time To Collision (TTC) sein. Die TTC berechnet sich aus der Annäherungsgeschwindigkeit des Folgefahrzeuges V0 und dem Abstand zum Folgefahrzeug x über TTC = x / V0. Ist die vom System berechnete TTC kleiner als ein voreingestellter Grenzwert, so wird das System aktiv.Another criterion for system activation may be the calculation of a Time To Collision (TTC). The TTC is calculated from the approach speed of the following vehicle V 0 and the distance to the following vehicle x via TTC = x / V 0 . If the TTC calculated by the system is less than a preset limit, the system becomes active.
Vorteil dieser Methode zur Berechnung des Warnzeitpunktes ist es, dass Fehlwarnungen vor ausscherenden Fahrzeugen weniger häufig vorkommen. Die Kollisionsgeschwindigkeit des Auffahrunfalls und mit ihr die Unfallschwere wird in jedem Fall gemindert. Auch können je nach Reifen- und Straßenzustand Auffahrunfälle bei niedrigen und mittleren Relativgeschwindigkeiten vermieden werden. Spätestens bei hohen Relativgeschwindigkeiten kommt die Warnung aber so spät, dass der Auffahrunfall nicht mehr verhindert werden kann.The advantage of this method of calculating the warning time is that false warnings about shunting vehicles are less frequent. The collision speed of the rear-end collision and, with it, the severity of the accident are in any case reduced. Also, depending on the condition of the tire and the road, rear-end collisions at low and medium relative speeds can be avoided. At the latest at high relative speeds, however, the warning comes so late that the rear-end collision can no longer be prevented.
Der Zeitpunkt, an welchem das System aktiv wird, ist also ein Kompromiss. Er muss so gewählt sein, dass zum einen möglichst viele Systemeingriffe so rechtzeitig erfolgen, dass die Unfallschwere maximal gemindert bzw. der Auffahrunfall, verhindert wird, und zum anderen möglichst wenige unnötige Aktivierungen des Systems stattfinden.The point in time when the system becomes active is therefore a compromise. It must be chosen so that on the one hand as many system interventions take place in time, that the severity of the accident is minimized or the rear-end collision is prevented, and on the other hand as few unnecessary activations of the system take place.
Hier setzt nun die Erfindung ein, indem eine Wahrscheinlichkeit für einen Überholvorgang ermittelt wird, wozu eine Belegung von Nachbarspuren erfasst wird. Dabei wird vorzugsweise neben der reinen Existenz von Objekten in der Nachbarspur auch deren Geschwindigkeit erfasst. Ergibt nun die Ermittlung, dass die Wahrscheinlichkeit für einen Überholvorgang gering ist, so wird frühzeitig gewarnt, beispielsweise indem als Parameter der Anhalteweg verwendet wird. Entsprechend wird dann bei einer hohen Überholwahrscheinlichkeit beispielsweise als Parameter die "Time To Collision" verwendet. Die Wahrscheinlichkeit für den Überholvorgang wird also verwendet, um einen Parameter auszuwählen oder aber, wenn der Parameter selbst nicht gewechselt wird, dass der abgelegte Vergleichswert angepasst wird. Bei hoher Überhölwahrscheinlichkeit wird also der Grenzwert bzw. Vergleichswert für den Abstand bzw. die Zeit herabgesetzt bzw. umgekehrt bei niedriger Wahrscheinlichkeit hochgesetzt. In diesen Fällen ist Abweichung als Unterschreitung des vorgegebenen Vergleichswertes zu verstehen. Die Anpassung an die Wahrscheinlichkeit kann dabei binär, gestuft oder kontinuierlich erfolgen. Die Maßnahmen für die Vermeidung des Auffahrunfalls können dabei vielschichtig sein. Neben den bereits erwähnten Blinklichtern oder anderen Beleuchtungsquellen sind auch Eingriffe in die Fahrdynamik des vorausfahrenden und/oder nachfolgenden Fahrzeugs denkbar, ebenso Aktivierungen von passiven und/oder aktiven Insassenschutzvorrichtungen.This is where the invention begins by determining a probability for an overtaking operation, for which purpose an occupancy of neighboring tracks is detected. In addition to the pure existence of objects in the neighboring track, their speed is preferably also recorded. If the determination now shows that the likelihood of an overtaking process is low, an early warning is given, for example by using the stopping distance as the parameter. Accordingly, the "Time To Collision" is then used, for example, as parameter with a high passing probability. The likelihood of the overtaking process is thus used to select a parameter or, if the parameter itself is not changed, to adjust the stored comparison value. At high Überhölwahrscheinlichkeit so the limit or comparison value for the distance or the time is reduced or vice versa low set high. In these cases deviation is to be understood as falling short of the given comparison value. The adaptation to the probability can be binary, stepped or continuous. The measures for avoiding the rear-end collision can be complex. In addition to the flashing lights or other sources of illumination already mentioned, interventions in the driving dynamics of the preceding and / or following vehicle are also conceivable, as are activations of passive and / or active occupant protection devices.
In einer bevorzugten Ausführungsform umfasst die Sensorik zur Erfassung der Belegung der Nachbarspuren einen Radarsensor und/oder eine Kamera und/oder einen Ultraschall-Sensor, wobei vorzugsweise auf die Sensoren vorhandener Fahrzeugassistenzsysteme wie beispielsweise Kamera der Lane-Departure-Warning, oder einer videobasierten Einpark- oder Rückfahrhilfe, Radar oder Lidar des Adaptive Cruise Control oder Ultraschall-Sensoren der Park Distance Control, Spurwechselassistenzsysteme oder eines Parklenk-Assistenzsystems zurückgegriffen wird.In a preferred embodiment, the sensor system for detecting the occupancy of the neighboring tracks comprises a radar sensor and / or a camera and / or an ultrasound sensor, wherein preferably on the sensors existing vehicle assistance systems such as camera of the lane departure warning, or a video-based parking or reversing aid, radar or Lidar Adaptive Cruise Control or ultrasonic sensors Park Distance Control, lane change assistance systems or a park steering assistance system is used.
In einer weiteren bevorzugten Ausführungsform werden mittels der Sensorik Fahrzeugumgebungsbedingungen ermittelt, wie beispielsweise Leitplanken, Bordsteine oder Grünstreifen.In a further preferred embodiment, vehicle surroundings conditions are determined by means of the sensor system, such as crash barriers, curbs or green strips.
In einer weiteren bevorzugten Ausführungsform ist die Vorrichtung Bestandteil eines Spurwechselassistenzsystems oder mit diesem verbunden, da die Information über die Wahrscheinlichkeit eines Überholvorganges auch für das Spurwechselassistenzsystem von Interesse ist.In a further preferred embodiment, the device is part of or associated with a lane change assistance system, since the information about the likelihood of an overtaking process is also of interest for the lane change assistance system.
Nähert sich beispielsweise auf der eigenen Fahrspur ein anderes Fahrzeug, so greift der Auffahrwarner wie oben beschrieben gegebenenfalls ein. Gleichzeitig wird die Wahrscheinlichkeit berechnet, ob, und wenn ja, auf welcher Nachbarspur das sich nähernde Fahrzeug überholen wird. Ab einer einstellbaren Wahrscheinlichkeitsgrenze wird der Fahrer vor einem Spurwechsel auf der betreffenden Seite gewarnt. Die Warnung kann dabei bekanntermaßen z.B. durch eine Warnlampe im Außenspiegel oder ein haptisches Lenkmoment erfolgen.If, for example, another vehicle approaches on its own lane, the approach warning device may intervene as described above. At the same time, the probability is calculated whether and, if so, on which neighboring lane the approaching vehicle will overtake. From an adjustable probability limit, the driver is warned against a lane change on the page in question. The warning can be known to be e.g. by a warning lamp in the exterior mirror or a haptic steering torque done.
In einer weiteren bevorzugten Ausführungsform wird der Abstand zum nachfolgenden Kraftfahrzeug erfasst, wobei bei einer Relativgeschwindigkeit von Null eine Warnung erfolgt, wenn der Abstand kleiner als ein Mindestabstand ist. Hierbei dient vorzugsweise die Zeitlücke zwischen dem eigenen und dem Folgefahrzeug als Auslösekriterium. Die Zeitlücke tz berechnet sich hierbei aus der Eigengeschwindigkeit des eigenen Fahrzeuges VE und dem Abstand zum Folgefahrzeug x zu tz = x / VE. Die Eigengeschwindigkeit wird dem System durch andere Steuergeräte des eigenen Fahrzeugs mitgeteilt. Der Abstand zum Folgefahrzeug wird über die Umfeldsensoren des Systems bestimmt.In a further preferred embodiment, the distance to the following motor vehicle is detected, wherein at a relative speed of zero, a warning occurs when the distance is smaller than a minimum distance. In this case, the time gap between the own vehicle and the following vehicle preferably serves as a triggering criterion. The time gap t z is calculated here from the own speed of the own vehicle V E and the distance to the following vehicle x to t z = x / V E. The airspeed is communicated to the system by other control devices of the own vehicle. The distance to the following vehicle is determined by the environment sensors of the system.
Die Zeitlücke muss hierbei so eingestellt werden, dass zum einen vor kritischen Situationen rechtzeitig gewarnt wird und zum anderen unnötige Auslösungen verhindert werden.The time gap has to be set in such a way that on the one hand a warning is given ahead of critical situations and on the other hand unnecessary triggers are prevented.
Weiterhin kann bei der Berechnung des Warnzeitpunktes ein Bremsen des eigenen Fahrzeuges mit berücksichtigt werden. Die Warnung an den rückwärtigen Verkehr erfolgt dann früher. Die Bremsverzögerung des eigenen Fahrzeuges wird dem System vom Bremssystem mitgeteilt.Furthermore, in the calculation of the warning time a braking of the own vehicle can be taken into account. The warning to the rear traffic then takes place earlier. The braking deceleration of the own vehicle is communicated to the system by the brake system.
Dabei sind verschiedene Ausgestaltungen der Warnstrategie möglich. Eine mögliche Ausführung besteht darin, dass zur Vermeidung von Fehlwarnungen ein Warnblinken bzw. die Auslösung einer Aktorik nur erfolgt, wenn das eigene Fahrzeug selber verzögert. Dies kann auch dynamisch erfolgen, d. h. unterhalb einer Geschwindigkeit, welche sich parametrieren lässt, reagiert das System auch dann, wenn das eigene Fahrzeug nicht verzögert. Oberhalb dieser Geschwindigkeit reagiert das eigene Fahrzeug mit Warnung oder Aktorik nur dann, wenn auch das eigene Fahrzeug selber verzögert.Different embodiments of the warning strategy are possible. A possible embodiment is that to avoid false alarms a hazard warning or the triggering of an actuator only takes place when the own vehicle delays itself. This can also be done dynamically, i. H. Below a speed which can be parameterized, the system reacts even if the own vehicle does not decelerate. Above this speed, your own vehicle reacts with warning or actuators only if the vehicle itself also delays.
Weiterhin kann das bekannte Notbrems-Warnblinken erweitert werden. Bei diesem System werden rückwärtige Leuchten zwecks Warnung des Folgeverkehrs betätigt, sobald eine vorgegebene obere Bremsverzögerung des eigenen Fahrzeugs überschritten wird. Das System wird dadurch erweitert, dass eine Aktivierung nur dann erfolgt, wenn von den Umfeldsensoren des Systems ein Folgefahrzeug auf der Fahrspur hinter dem eigenen Fahrzeug erkannt wird. Hierdurch werden unnötige Warnungen vermieden.Furthermore, the known emergency brake warning flashing can be extended. In this system, rear lights are actuated for the purpose of warning the following traffic as soon as a predetermined upper braking deceleration of the own vehicle is exceeded. The system is extended by activating only if the environment sensors of the system recognize a follower vehicle in the lane behind the driver's own vehicle. This avoids unnecessary warnings.
Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels näher erläutert. Die Fig. zeigen:
- Fig. 1a - g
- verschiedene Szenarien, bei denen auf eine belegte Nachbarspur und somit geringe Überholwahrscheinlichkeit geschlossen wird und
- Fig. 2
- ein schematisches Blockschaltbild einer Vorrichtung zur Vermeidung von Auffahrunfällen.
- Fig. 1a - g
- various scenarios in which an occupied adjacent lane and thus low probability of overtaking is concluded and
- Fig. 2
- a schematic block diagram of a device for avoiding rear-end collisions.
Die Fig. 1a - g zeigen die unterschiedlichen Szenarien für die Erkennung einer belegten Nachbarspur am Beispiel eines Fahrzeuges mit Sensoren, die einen Erfassungsbereich haben, welcher hinter sowie links und rechts neben dem eigenen Fahrzeug liegt. Das Fahrzeug ist hierbei ein Linkslenker, und der geplante Überholvorgang soll links erfolgen. Weiß eingezeichnet ist der jeweils relevante überwachte Bereich. Aufgeführt sind nur die Fälle, bei denen sich ein Folgefahrzeug, welches auf derselben Fahrspur fährt wie das eigene Fahrzeug, sich dem eigenen Fahrzeug von hinten annähert.1a-g show the different scenarios for the detection of an occupied adjacent lane on the example of a vehicle with sensors that have a detection area, which is behind and left and right next to the own vehicle. The vehicle is here a left-hand drive, and the planned overtaking should be left. Plotted in white is the relevant monitored area. Listed are only the cases in which a follower vehicle, which drives on the same lane as the own vehicle, approaches the own vehicle from behind.
Die Nachbarspur ist dann belegt, wenn sich ein Fahrzeug auf der Nebenspur zwischen dem Folgefahrzeug und dem eigenen Fahrzeug befindet und hierbei sich Fig. 1a zurückfallen lässt oder Fig. 1b gleich schnell wie das eigene Fahrzeug fährt oder Fig. 1c schneller als das eigene Fahrzeug, aber langsamer als das Folgefahrzeug fährt oder Fig. 1d gleich schnell wie das Folgefahrzeug neben oder kurz vor dem Folgefahrzeug fährt. Weiterhin ist die Nachbarspur dann belegt, wenn sich Fig. 1e ein Fahrzeug hinter dem Folgefahrzeug befindet und sich auf der Nebenspur so schnell von hinten nähert, dass das Folgefahrzeug nicht gefahrlos die Fahrspur wechseln kann. Weiterhin ist die Nachbarspur dann belegt, wenn Fig. 1f ein Fahrzeug auf der Nebenspur als Gegenverkehr fährt oder wenn Fig. 1g die Nachbarspur durch bauliche Maßnahmen wie z.B. Leitplanken oder Pfosten belegt ist.The adjacent lane is then occupied when a vehicle is located on the secondary lane between the follower vehicle and the own vehicle and in this case Fig. 1a can fall back or Fig. 1b drives at the same speed as the own vehicle or Fig. 1c faster than the own vehicle, but slower than the following vehicle is driving or Fig. 1d as fast as the following vehicle next to or just before the following vehicle travels. Furthermore, the adjacent lane is then occupied when Fig. 1e is a vehicle behind the follower vehicle and on the secondary lane approaches from behind so fast that the following vehicle can not safely change the lane. Furthermore, the adjacent lane is then occupied when Fig. 1f drives a vehicle on the secondary lane as oncoming traffic or when Fig. 1g the adjacent lane is occupied by structural measures such as crash barriers or posts.
In gleicher Weise kann auch ein geplanter Überholvorgang auf der rechten Seite in der Warnstrategie mit berücksichtigt werden.In the same way, a planned overtaking process on the right side can also be taken into account in the warning strategy.
In ähnlicher Weise können auch Szenarien für ein Fahrzeug mit zusätzlichen Sensoren, welche auch den Bereich vor dem eigenen Fahrzeug erfassen, aufgestellt werden.Similarly, scenarios for a vehicle with additional sensors, which also detect the area in front of the own vehicle, can be set up.
In der Fig. 2 ist ein schematisches Blockschaltbild einer Vorrichtung 1 zur Vermeidung von Auffahrunfällen dargestellt, die Bestandteil eines Spurwechselassistenzsystems ist. Die Vorrichtung 1 umfasst eine Auswerteeinheit 2. Die Auswerteeinheit 2 ist mit verschiedenen Sensoriken 3-8 sowie 9-12 ausgestaltet. Die Sensoriken 3-8 dienen dabei zum Erfassen von Objekten in Nachbarspuren einschließlich deren Geschwindigkeit. Die Sensoriken 3-8 sind dabei beispielsweise im Einzelnen eine Kamera 3 einer Lane Departure Warning (Spurhalteassistenzsystem), ein Radarsensor 4 einer Adaptive Cruise Control, Ultraschallsensoren 5 einer Parking Distance Control, Ultraschallsensoren 6 eines Parklenkassistenzsystems, ein Radarsensor 7 und/oder eine Kamera eines Spurwechselassistenzsystems und eine Kamera 8 zur Überwachung des rückwärtigen Verkehrs. Dabei versteht es sich, dass es für die Erfindung nicht notwendig ist, dass alle erwähnten Systeme bzw. Sensoriken vorhanden sind.FIG. 2 shows a schematic block diagram of a
Mittels der Sensoriken 9-12 wird ein Straßenzustand ermittelt. Dabei sind die Sensoriken im Einzelnen ein Bremssystem 9, ein Regen-Licht-Sensor 10, ein Straßenzustandssensor 11 und ein Kamera-System 12, wobei auch hier nicht notwendigerweise alle Sensoriken 9-12 vorhanden sein müssen. Die Daten der Sensoriken 9-12 werden dabei insbesondere bei der Berechnung des Anhalteweges berücksichtigt.By means of the sensors 9-12 a road condition is determined. Specifically, the sensor systems are a
Die Sensoriken 3-8 liefern ihre Daten und/oder vorverarbeitete Daten an die Auswerteeinheit 2, die daraus unter anderem eine Wahrscheinlichkeit für einen Überholvorgang ermittelt. Weiter ermittelt die Auswerteeinheit 2 einen Parameter, der mit einem abgelegten Vergleichswert verglichen wird. Der Parameter ist beispielsweise eine "Time To Collision" oder einen Anhalteweg. Unterschreitet der ermittelte Parameter den vorgegebenen Vergleichswert, so löst die Auswerteeinheit 2 eine Maßnahme durch Ansteuerung einer Aktorik 13 aus, die beispielsweise eine Blinkleuchte und/oder eine aktive und/oder passive Insassenschutzvorrichtung und/oder ein Steuergerät zur Beeinflussung der Längsdynamik des Kraftfahrzeugs ist. Abhängig von der ermittelten Wahrscheinlichkeit eines Überholvorganges wählt die Auswerteeinheit entweder einen anderen Parameter oder aber einen anderen Vergleichswert. Entscheidend ist, dass bei einer niedrigen Überholwahrscheinlichkeit frühzeitiger gewarnt wird und bei einer hohen Überholwahrscheinlichkeit später.The sensors 3-8 provide their data and / or preprocessed data to the
Claims (10)
dadurch gekennzeichnet, dass
mittels der Sensorik (3-8) eine Belegung von Nachbarspuren ermittelbar ist, aus der Belegung der Nachbarspuren eine Wahrscheinlichkeit für einen Überholvorgang des nachfolgenden Kraftfahrzeugs ermittelt wird und der ermittelte Parameter und/oder der abgelegte Vergleichswert in Abhängigkeit von der Wahrscheinlichkeit für einen Überholvorgang von der Auswerteeinheit (2) gewählt wird.Device for avoiding rear-end collisions of motor vehicles, comprising a sensor system with which at least the relative speed between a separate motor vehicle and a subsequent motor vehicle can be determined or calculated, wherein a parameter can be determined by an evaluation unit depending on the relative speed, with a stored comparison value in the case of a deviation from the comparison value, a measure is taken to reduce the risk of a rear-end collision,
characterized in that
By means of the sensor system (3-8) an occupancy of adjacent lanes can be determined, from the occupancy of the neighboring lanes a probability for an overtaking of the following motor vehicle is determined and the determined parameter and / or the stored comparison value depending on the probability of an overtaking from the Evaluation unit (2) is selected.
dadurch gekennzeichnet, dass
mittels der Sensorik (3-8) eine Belegung von Nachbarspuren ermittelt wird, aus der Belegung der Nachbarspuren eine Wahrscheinlichkeit für einen Überholvorgang des nachfolgenden Kraftfahrzeuges ermittelt wird und der ermittelte Parameter und/oder der abgelegte Vergleichswert in Abhängigkeit von der Wahrscheinlichkeit für einen Überholvorgang von der Auswerteeinheit (2) gewählt wird.A method for avoiding rear-end collisions of motor vehicles, by means of a sensor with which at least the relative speed between a separate motor vehicle and a subsequent motor vehicle is determined or calculated, wherein a parameter is determined by an evaluation unit depending on the relative speed, compared with a stored comparison value where a measure is initiated, depending on the comparison value, in order to reduce the risk of a rear-end collision,
characterized in that
By means of the sensor system (3-8) an occupancy of neighboring lanes is determined, from the occupancy of the neighboring lanes a probability for an overtaking of the following motor vehicle is determined and the determined parameter and / or the stored comparison value depending on the probability of an overtaking from the Evaluation unit (2) is selected.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102006037015A DE102006037015A1 (en) | 2006-08-04 | 2006-08-04 | Motor vehicles` rear end collisions avoiding device, has sensor system determining allocation of neighboring traces, and evaluation unit selecting parameter and value based on probability for overhauling procedure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1887540A1 true EP1887540A1 (en) | 2008-02-13 |
| EP1887540B1 EP1887540B1 (en) | 2009-09-16 |
Family
ID=38476085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP07013350A Active EP1887540B1 (en) | 2006-08-04 | 2007-07-07 | Device and method for avoiding rear-end collisions |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1887540B1 (en) |
| AT (1) | ATE443310T1 (en) |
| DE (2) | DE102006037015A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009141133A1 (en) * | 2008-05-23 | 2009-11-26 | Valeo Schalter Und Sensoren Gmbh | Method for operating a driver assistance system when parking a vehicle in a parking space |
| WO2014029598A1 (en) * | 2012-08-23 | 2014-02-27 | Robert Bosch Gmbh | Lane selection assistant for optimizing traffic flow (traffic flow assistant) |
| WO2020020525A1 (en) | 2018-07-23 | 2020-01-30 | Valeo Schalter Und Sensoren Gmbh | Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014203361B3 (en) * | 2014-02-25 | 2015-06-18 | Klaus W. Hentges | Bicycle distance scanning device and system for the detection of accident areas in traffic |
| JP6092272B2 (en) | 2015-01-28 | 2017-03-08 | 本田技研工業株式会社 | Vehicle travel control device |
| DE102015219465A1 (en) | 2015-10-08 | 2017-04-13 | Volkswagen Aktiengesellschaft | Method and device for determining the adaptive reaction time of the driver of a motor vehicle |
| CN112612277B (en) * | 2020-12-23 | 2023-03-07 | 禾多科技（北京）有限公司 | Vehicle trajectory planning method, device, equipment and computer readable medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0443185A2 (en) * | 1990-02-21 | 1991-08-28 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for assisting a motorist when changing lanes |
| DE19933782A1 (en) * | 1999-07-19 | 2001-01-25 | Volkswagen Ag | Preventing shunt accidents involves computing time until vehicles will collide taking into account value for deceleration of following vehicle, initiating an action if time below threshold |
| DE102005062274A1 (en) * | 2005-12-24 | 2007-06-28 | Daimlerchrysler Ag | Detection process for impending rear-end impact has delay factor applied to second vehicle, such as relative delay or inherent delay of second vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10328755A1 (en) * | 2002-07-05 | 2004-07-15 | Continental Teves Ag & Co. Ohg | System to avoid rear-end collisions |
| DE10251357A1 (en) * | 2002-11-05 | 2004-05-13 | Daimlerchrysler Ag | Automatic operating method for automobile trafficator display with evaluation of data for identification of turning or lane changing maneuver |
-
2006
- 2006-08-04 DE DE102006037015A patent/DE102006037015A1/en not_active Withdrawn
-
2007
- 2007-07-07 AT AT07013350T patent/ATE443310T1/en active
- 2007-07-07 DE DE502007001525T patent/DE502007001525D1/en active Active
- 2007-07-07 EP EP07013350A patent/EP1887540B1/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0443185A2 (en) * | 1990-02-21 | 1991-08-28 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for assisting a motorist when changing lanes |
| DE19933782A1 (en) * | 1999-07-19 | 2001-01-25 | Volkswagen Ag | Preventing shunt accidents involves computing time until vehicles will collide taking into account value for deceleration of following vehicle, initiating an action if time below threshold |
| DE102005062274A1 (en) * | 2005-12-24 | 2007-06-28 | Daimlerchrysler Ag | Detection process for impending rear-end impact has delay factor applied to second vehicle, such as relative delay or inherent delay of second vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009141133A1 (en) * | 2008-05-23 | 2009-11-26 | Valeo Schalter Und Sensoren Gmbh | Method for operating a driver assistance system when parking a vehicle in a parking space |
| US8531313B2 (en) | 2008-05-23 | 2013-09-10 | Valeo Schalter Und Sensoren Gmbh | Method for operating a driver assistance system when parking a vehicle in a parking space |
| WO2014029598A1 (en) * | 2012-08-23 | 2014-02-27 | Robert Bosch Gmbh | Lane selection assistant for optimizing traffic flow (traffic flow assistant) |
| WO2020020525A1 (en) | 2018-07-23 | 2020-01-30 | Valeo Schalter Und Sensoren Gmbh | Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| DE502007001525D1 (en) | 2009-10-29 |
| EP1887540B1 (en) | 2009-09-16 |
| ATE443310T1 (en) | 2009-10-15 |
| DE102006037015A1 (en) | 2008-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1554604B2 (en) | Method and device for preventing a collision of vehicles | |
| DE102007060862B4 (en) | Emergency braking system | |
| DE102013010983B4 (en) | Method for operating a motor vehicle in a lane change and motor vehicle | |
| EP2084045B1 (en) | Method for sensing the environment of a vehicle | |
| EP2404195B1 (en) | Method for automatically detecting a driving maneuver of a motor vehicle and a driver assistance system comprising said method | |
| EP2234864B1 (en) | Driver assistance system and method for supporting the driver of a vehicle in maintaining a traffic lane limited by traffic lane markings | |
| EP2619743B1 (en) | Method and system for reducing a reaction delay time of a vehicle safety control device | |
| EP3153376B1 (en) | Method and device for determining the adaptive reaction time of a driver of a motor vehicle | |
| EP3280624A1 (en) | Control system and method for allowing another motor vehicle to pull in front from a neighboring lane during acc operation of one's own motor vehicle | |
| EP2252491B1 (en) | Longitudinal guide assistant with lateral assistance function for motor vehicles | |
| DE102020112686A1 (en) | Adaptive autonomous emergency braking system taking into account the steering path and control method for the same | |
| EP1887540B1 (en) | Device and method for avoiding rear-end collisions | |
| WO2006122867A1 (en) | Lane change assistant for motor vehicles | |
| WO2014041023A1 (en) | Methods and devices for collision warning during lane changes | |
| DE102009025607A1 (en) | Method for avoiding collision of moving vehicle, involves detecting and estimating object depending periphery conditions determined by vehicle and object, where collision is impended and evasion movement or braking is carried out | |
| DE102014200896A1 (en) | Lane change assistance for a motor vehicle | |
| EP3157793B1 (en) | Determining a state of a vehicle and assisting a driver in driving the vehicle | |
| EP3280625A1 (en) | Control system and method for assisting motor vehicles in safely pulling in after overtaking | |
| WO2012119596A1 (en) | Method for the predictive display of an evasive maneuver | |
| DE102009020647A1 (en) | Method for collision control of load vehicle, involves detecting two objects in surrounding of vehicle, where objects travel on traffic lane and counter lane, respectively and speed of first object is greater than that of second object | |
| WO2017220176A1 (en) | Method for determining an emergency braking situation of a vehicle and emergency brake system | |
| DE102004048868A1 (en) | Method for detecting rear-end crash situations | |
| DE102007002220A1 (en) | Method and device for collision warning in the case of lane changes of vehicles | |
| EP1345790B1 (en) | Vehicle comprising at least one sensor for detecting the surrounding area of the vehicle | |
| DE102011106082A1 (en) | Method for partial automatic initiation of collision-avoiding driving maneuver of motor vehicle, involves determining clearance evasion so that flashing signal is provided automatically to indicate direction in which the evasion leads |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
| AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR |
|
| AX | Request for extension of the european patent |
Extension state: AL BA HR MK YU |
|
| 17P | Request for examination filed |
Effective date: 20080813 |
|
| 17Q | First examination report despatched |
Effective date: 20080918 |
|
| AKX | Designation fees paid |
Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR |
|
| GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
| GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
| GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
| AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR |
|
| REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
| REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
| REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
| REF | Corresponds to: |
Ref document number: 502007001525 Country of ref document: DE Date of ref document: 20091029 Kind code of ref document: P |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| LTIE | Lt: invalidation of european patent or patent extension |
Effective date: 20090916 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| NLV1 | Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act | ||
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| REG | Reference to a national code |
Ref country code: IE Ref legal event code: FD4D |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20100118 Ref country code: IE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20100116 Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20091227 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| 26N | No opposition filed |
Effective date: 20100617 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20091217 |
|
| BERE | Be: lapsed |
Owner name: VOLKSWAGEN A.G. Effective date: 20100731 Owner name: AUDI A.G. Effective date: 20100731 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100731 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100731 |
|
| REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110731 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110731 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20100317 Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100707 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090916 |
|
| REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 443310 Country of ref document: AT Kind code of ref document: T Effective date: 20120731 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120731 |
|
| REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 9 |
|
| REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 10 |
|
| REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 11 |
|
| REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 12 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20210722 Year of fee payment: 15 Ref country code: FR Payment date: 20210726 Year of fee payment: 15 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20210731 Year of fee payment: 15 Ref country code: GB Payment date: 20210726 Year of fee payment: 15 |
|
| REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 502007001525 Country of ref document: DE |
|
| GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20220707 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220731 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220707 Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20230201 |
|
| P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230529 |