WO2008034672A1

WO2008034672A1 - Driver assistance system with data preparation according to function

Info

Publication number: WO2008034672A1
Application number: PCT/EP2007/058075
Authority: WO
Inventors: Frank Ewerhart; Albrecht Klotz; Wolfgang Niehsen; Martin Staempfle; Jan Sparbert; Oliver Schwindt; Andreas Simon; Jan-Carsten Becker
Original assignee: Robert Bosch Gmbh
Priority date: 2006-09-21
Filing date: 2007-08-03
Publication date: 2008-03-27
Also published as: DE102006044434A1

Abstract

The invention relates to a driver assistance system (1, 400) with multiple function modules (F1, F2, F3), wherein, for controlling these function modules (Fl, F2, F3), data from the vehicle and data from the surroundings of the vehicle are detected by multiple sensors (Sl, S2, S3, 40, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2), the data from the sensors (Sl, S2, S3, 40, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) are processed in multiple stages or steps, and wherein at least a part of the processing steps is formulated according to the functions of the function modules (F1, F2, F3).

Description

description

Title DRIVER ASSISTANCE SYSTEM WITH FUNCTIONALIZED DATA PROCESSING

State of the art

The invention relates to a driver assistance system according to the preamble of claim 1.

Driver assistance systems of the generic type are intended to assist the driver in guiding the vehicle and to facilitate the guidance of the vehicle, in particular in poor visibility conditions and / or heavy traffic load of the traffic area. A driver assistance system therefore usually also includes sensors for detecting the vehicle environment. These sensors (for example ACC radar sensors) are still used individually in a vehicle or, if several sensors are used, operated independently of one another. In the future, however, a growing number of sensors and an increasing networking of these sensors (sensor data fusion) can be expected.

Disclosure of the invention

Technical task

The invention has for its object to provide an improved driver assistance system, in which the output signals of a plurality of sensors particularly resources can be processed gently and thus cost-effectively and quickly. R. 314284

Technical solution

This object is achieved by a multi-function driver assistance system in which for controlling these functions with a plurality of sensors data of the vehicle and data from the environment of the vehicle are detected, and these data of the sensors are processed in several stages or steps, at least some of the processing steps are functionally specific to the functions of the driver assistance system.

Advantageous Effects of the Invention

The inventive solution enables an essentially simultaneous processing and fusion of the output signals from sensors for various functions of a driver assistance system in the motor vehicle with very different demands on the type and quality of the output signals of the sensors. Thus, functions of a driver assistance system that are advantageously oriented towards safety and comfort can be operated virtually simultaneously. The invention is based on the recognition that this is advantageously made possible by a multi-stage processing of the output signals of the sensors, with a function-specific processing of the sensor signals is followed by a sensor group specific processing of the sensor output signals. Switched before is still advantageous all output signals of the sensors common processing stage, in which, inter alia, the integrity of the sensor signals is checked. A particular advantage of the inventive solution is that the driver assistance system is modular, which means the processing of the sensor output signals and the assignment to the respective functions of the R. 314284

Driver assistance system. As a result, the driver assistance system can be easily expanded if necessary. If a new additional function of the driver assistance system is desired, this desire can usually be implemented by adding a corresponding function-specific function module. In the context of the invention, solutions are also conceivable in which a universal functional module is already designed for a large number of different functions, depending on the expansion level, comfort and / or

Security requirements are selectively activated. In particular, comfort functions and security functions come into consideration as functions. Comfort functions can assist the driver in routine tasks. As an example, here the function ACC (Adaptive Cruise Control) can be called, which supports the driver in the following driving on highways and country roads. A safety function assists the driver in particularly critical situations. As an example, the function PSS (Predictive Safety System) can be mentioned here. Furthermore, a distinction can be made here between active and passive functions. In an active function, an intervention in the vehicle guidance takes place, for example via the brake system, the steering system and / or the drive train of the vehicle. In a passive function, only information or warning of the driver takes place without intervention in the vehicle guidance. The core of the invention is thus to be seen in the subdivision of a function module for the sensor data fusion into submodules, the submodules corresponding to the type of sensor data at the input of the function module corresponding (for example, object data, lane data, vehicle data, traffic sign data and possibly other data of future interest ) and the type and requirements of the driver assistance functions at the output of the functional module (for example, the distinction between comfort functions and safety functions) R. 314284

be determined. Further advantages emerge from the subclaims and the description.

Brief description of the drawings

Embodiments of the invention will be explained below with reference to the drawings. It shows

FIG. 1 shows a first block diagram of a driver assistance system;

FIG. 2 shows a second block diagram of a driver assistance system;

Figure 3 is a third block diagram of a

Driver assistance system;

FIG. 4 shows a fourth block diagram of a

Driver assistance system.

Embodiments of the invention

FIG. 1 shows a block diagram of a first exemplary embodiment of a driver assistance system 1. The driver assistance system 1 comprises a plurality of sensors S1, S2. In this block diagram, only two sensors S1, S2 are shown by way of example. However, these sensors are representative of a larger number of sensors that are provided in the driver assistance system 1 for detecting the vehicle environment. The sensors mentioned can be video sensors, radar sensors, lidar sensors, ultrasound sensors or other sensors for detecting the vehicle environment, which in some cases have different or at least partially overlapping coverage areas. Depending on the type of sensor in question, more or less distant areas of the surroundings of the sensor will be used R. 314284

Vehicle detected by the sensors. In addition, the driver assistance system can access sensor data provided by further sensors of onboard systems. These may be, for example, systems for controlling the drive train, the brake system, the chassis and the safety devices for vehicle occupants and other road users, in particular pedestrians act. The sensors Sl, S2 are connected to a functional module 10, which in turn comprises a plurality of functional modules 10.1, 10.2, 10.3. On the output side, the functional module 10 is connected to further functional modules F1, F2, wherein the functional module F1 is connected to the functional module 10.2 and the functional module F2 to the functional module 10.3. By way of example, the function modules F1, F2 are actuators that interactively intervene in operating systems of the vehicle in order to implement a driver-assisting function of the driver assistance system 1. Thus, for example, the functional module Fl can comprise a warning device which, as part of an LDW (Lane Departure Warning) function of the driver assistance system 1, provides warning signals which warn the driver before leaving the traffic lane. Furthermore, the functional module F1 may, for example, include a safety function that provides warning signals that warn the driver of a critical situation in the vehicle longitudinal guidance, for example, before too tight opening and / or sudden deceleration of the vehicle in front. As warning signals optical, acoustic and / or haptic signals can be generated. Furthermore, the function module F2, for example, cause a steering intervention in the steering system of the vehicle in order to enable an LKS function (LKS = Lane Keeping Support) of the driver assistance system 1. Furthermore, the function module F2 may include, for example, a comfort function, which the driver in routine tasks, such as in the subsequent driving on highways or

Highways, supported. As such a comfort function R. 314284

For example, ACC (Adaptive Cruise Control) is known. Comfort and security functions may require fundamentally different object data. The invention is based on the recognition that not all signals of the sensors S1, S2 must be processed and provided for all functional modules F1, F2. Advantageously, therefore, the processing of the signals of the sensors Sl, S2 is carried out by different functional modules 10.1, 10.2, 10.3 of the functional module 10. These function modules 10.1, 10.2, 10.3 are different

Assigned processing steps. Thus, advantageously, the functional module 10.1 carry out processing steps to which the signals of all sensors S1, S2 must be subjected. As processing steps are, for example, a gain, a filtering or the like into consideration. The signals of the sensors S 1, S 2 jointly processed by the functional module 10. 1 are then split up and fed separately to the functional modules 10. 2 and 10. 3, which supply these signals according to different criteria and adapted to the needs of the

Continue editing function modules Fl, F2. For example, time-critical processing steps may be performed in the function module 10.3, the results of which require the function module F2. In the function module 10.2, in contrast, a signal processing can take place, which are adapted to the specific needs of the functional module Fl. These may be, for example, less time-critical processes. The division according to the invention into a joint processing of the signals in the functional module 10. 1 and a specifically adapted processing in the functional modules 10. 2 and 10. 3 enable an effective and cost-effective design of the functional module 10.

If a plurality of sensors Sl, S2, S3 is used, it may happen that not all the output signals of all R. 314284

Sensors can be a common function module, such as the function module 10.1 in Figure 1, supplied to perform a basic processing of all signals. Advantageously, then another embodiment of the invention will be used, which will be explained with reference to the block diagram shown in Figure 2. In Figure 2, three sensors are shown, which in turn can be representative of a variety of sensors. The sensors Sl and S2 are connected to a functional module 10. The sensors S3 and S2 are connected to a functional module 20. It can thus be seen from this representation that the signals of the sensor S1 are fed exclusively to the functional module 10, the signals of the sensor S3 to the functional module 20 and the signals of the sensor S2 to both the functional module 10 and the functional module 20. Furthermore, the embodiment of the invention shown in Figure 2 includes functional modules Fl, F2, F3, which, depending on the signals of the sensors Aktorbzw. Have tax tasks. The functional module F1 is connected exclusively to the functional module 10, the functional module F2 to both the functional module 10 and to the functional module 20. Finally, the functional module F3 is connected only to the functional module 20. Furthermore, a connection (arrow 21) between the function modules 10 and 20 is still provided.

The diagram shown in FIG. 3 also shows a somewhat more detailed structure of the embodiment of the invention shown in FIG. FIG. 3 shows that the functional modules 10, 20 in turn comprise further functional modules 10.1, 10.2, 10.3 or 20.1, 20.2, 20.3. Thus, within the functional module 10, the functional module 10.1 is connected both to the functional module 10.2 and to the functional module 10.3. The functional module 10.2 is connected to the functional module F1. The functional module 10.3 is connected to the functional module F2. R. 314284

Finally, FIG. 4 shows a further advantageous embodiment of a device according to the invention

Driver assistance system 400. The driver assistance system 400 includes a plurality of sensor groups 40, 41, 42, 43, each consisting of more or fewer sensors. The sensor group 40 includes sensors that detect characteristics of the vehicle itself and its components, such as the vehicle speed, the longitudinal acceleration, the lateral acceleration, the yaw rate, the shift position of the

Turn signals, etc. The sensor group 41 includes a plurality of sensors, which are used to detect objects from the environment of the vehicle. Each of these types of sensors may in turn comprise a plurality of sensors mounted at a suitable location on the vehicle. In detail, the sensor group 41 comprises a sensor 41.1, which is a short-range radar sensor. Furthermore, the sensor group 41.2 comprises a sensor 41.2, which is a long-range radar sensor. Furthermore, the sensor group 41 comprises a sensor 41.3, which is a monocular video sensor. Furthermore, the sensor group 41 comprises a stereo video sensor 41.4. Furthermore, the sensor group 41 also comprises a sensor 41.5, which is an ultrasonic sensor. Finally, as a further sensor 41.6, a lidar sensor and / or a laser scanner may also be provided. As already mentioned above, several sensors can be provided in the practical application, even if in the present description only one sensor in the singular is mentioned. The driver assistance system 400 comprises a further sensor group 42, which serves to detect and recognize the lane markings and the lanes. In detail, the sensor group 42 comprises a sensor 42.1 for the video-based lane recognition, with which in particular lane markings can be detected. Furthermore, the sensor group 42 comprises a sensor or a functional module, 42.2, R. 314284

which takes a digital map information about the course of the lane or lane. The driver assistance system 400 comprises a further sensor group 43, which serves to detect and recognize traffic signs. In detail, the sensor group 43 includes a sensor 43.1 for the video-based traffic sign recognition. In addition, the sensor group 43 includes a sensor 43.2 or a functional module 43.2, which derives information about the location and type of traffic signs from a digital map. The output terminals of all sensor groups 40, 41, 42, 43 are connected to a function module 44. 1 of a function module 44. The function module 44 is connected between the sensor groups 40, 41, 42, 43 and the function modules F1 and F2 provided as actuators. The common function module 44.1 which checks all sensor groups 40, 41, 42, 43 checks the integrity of the output signals supplied by the sensors of the sensor groups. The function module 44.1 is connected to further function modules 44.2, 44.5, 44.9 and 44.10 and passes these function modules, sensor-specific, through the

Function module 44.1 processed sensor signals too. Sensor-specific in the aforementioned sense means that the output signals of the vehicle-specific sensors of the sensor group 40 are supplied to the function module 44. The function module 44.5, the output signals of the sensors of the sensor group 41 are fed. The function module 44.9 output signals of the sensors of the sensor group 41 are fed. In addition, the function module 44.9 is connected to an output of the function module 44.2. The function module 44.10 are the

Output signals of the sensors of the sensor group 43 supplied. In addition, the function module 44.10 is connected to an output of the function module 44.2 and to an output of the function module 44.9. A first output of the function module 44.10 is connected to an input of the

Function module 44.14 connected. A second exit of the R. 314284

Function module 44.10 is connected to an input of the

Function module 44.15 connected. A first exit of the

Function module 44.14 is connected to one input of the

Function module 44.11 connected. A second output of the function module 44.14 is connected to an input of the

Function module 44.18 connected. An output of the

Function module 44.15 is connected to one input of the

Function module 44.12 connected. Another output of the

Function module 44.15 is connected to an input of the function module 44.16. A first exit of the

Function module 44.9 is connected to an input of the

Function module 44.13 connected. A second exit of the

Function module 44.9 is connected to an input of the

Function module 44.15 connected. A third output of the function module 44.9 is connected to an input of the

Function module 44.10 connected. Furthermore, an input of the function module 44.9 with an output of

Function module 44.17 connected. One output of each

Function module 44.13 is connected to one input each of the function modules 44.11 and 44.14. A third

Output of the function module 44.13 is connected to an input of the

Function module 44.18 connected. One output of each

Function module 44.15 has one input each

Function modules 44.12 and 44.15 connected. A third output of the function module 44.15 is connected to the input of the

Function module 44.16 connected. An entrance of the

Function module 44.15 is connected to an output of the

Function module 44.16 connected. A first exit of the

Function module 44.5 is connected to an input of the function module 44.8. A second exit of the

Function module 44.5 is connected to an input of the

Function module 44.6 connected. Another entrance of the

Function module 44.6 is with an output it

Function module 44.4 connected. Another input of the function module 44.6 is connected to an output of the

Function module 44.16 connected. An exit of the R. 314284

Function module 44.6 is connected to an input of the function module 44.7 whose output is connected to an input of the function module 44.15. An input of the function module 44.5 is connected to an output of the function module 44.17. Another input of the function module 44.5 is connected to an output of the function module 44.2. An output of the function module 44.6 is connected to an input of the function module 44.12. An input of the function module 44.6 is connected to an output of the

Function module 44.16 connected. An output of the function module 44.8 is connected to an input of the function module 44.11, whose output is connected to an input of the function module 44.18. An input of the function module 44.8 is connected to an output of the

Function module 44.3 connected. Another input of the function module 44.8 is connected to an output of the function module 44.18. An output of the function module 44.3 is connected to an input of the function module 44.18. An output of the function module 44.4 is connected to an input of the function module 44.16. The output of the function module 44.18 is connected to an input of the function module 44.17. The output of the function module 44.16 is connected to another input de function module 44.17. An output of the function module 44.17 is connected to an input of the sensor 41.3 of the sensor group 41. A second output of the function module 44.17 is connected to the input of the functional module Fl. A third output of the function module 44.17 is connected to an input of the function module F2. There is a bidirectional connection between the function modules F1 and F2 and the function module 44.17. R. 314284

The mode of operation of the driver assistance system 400 will be briefly described below. The output signals of all sensors of the sensor groups 40, 41, 42, 43 are first supplied to the function module 44.1, which checks the integrity of the output signals of the sensors. In a next processing stage, a sensor group-specific processing of the output signals of the sensors of the respective sensor group is then performed. This processing takes place for the output signals of the sensor group 40 in the function module 44.2, for the output signals of the sensor group 41 in the function module 44.5, for the output signals of the sensor group 41 in the function module 44.9 and for the output signals of the sensor group 43 in the function module 44.10. In this processing stage, it is also possible to link the output signals of the individual sensors, which is often referred to as "fusion." In a third processing stage, the output signals processed jointly in the second processing stage are then further processed in a function-specific manner

Embodiment of a driver assistance system 400, two functional modules Fl and F2 are shown by way of example. The above-mentioned function-specific processing is thus aligned with these two functional modules Fl and F2. Accordingly, in the aforementioned third

Processing stage, the processing of the originating from the sensor group 40 signals separately performed in the function modules 44.3 and 44.4. The result of the processing in the function module 44.3 thus has an effect on the function module F1 and the result of the processing in the function module 44.4 on the function module F2. Accordingly, in the aforementioned third processing stage, the processing of the signals originating from the sensor group 41 is performed separately in the function modules 44.6 and 44.8. The result of the processing in the function module 44.8 thus affects the functional module F1 and the result of the processing R. 314284

in the function module 44.6 on the function module F2. Accordingly, in the aforementioned third

Processing stage, the processing of the originating from the sensor group 42 signals separately performed in the function modules 44.13 and 44.15. The result of the processing in the function module 44.13 thus has an effect on the function module F1 and the result of the processing in the function module 44.15 on the function module F2. Accordingly, in the aforementioned third processing stage, the processing of the signals originating from the sensor group 43 is performed separately in the function modules 44.14 and 44.15. The function modules 44.11 and 44.12 are responsible for the environmental interpretation. This is the function-specific interpretation of the sensor data. In an ACC (adaptive cruise control), this would be the selection of the target object to be controlled. For a safety function PSS, this would be the selection of the critical object to which a warning is triggered. But these can each be different objects. The result of editing in the

Function module 44.14 thus has an effect on the function module F1 and the result of processing in the function module 44.15 on the function module F2. The signals obtained in the third processing stage are transferred to the function modules 44.18 and 44.16 in a fourth processing stage and finally transferred to the function modules F1 and F2 via the function module 44.17 connected to these function modules and communicating with the function modules F1 and F2. In a driver assistance system, it may be appropriate to a kind

Provide feedback or feedback from the function (for example, Fl, F2, F3) to one or more sensors. For example, in the case of the ACC (Adaptive Cruise Control) function, a target object can be returned to the sensor so that it is taken into account in the next measurement so that it does not R. 314284

get lost. The target object is, for example, the vehicle driving in front of the driver's own vehicle, which is driven in a regulated manner. This retroactive effect is assumed by the function-specific coordination modules 44.16, 44.18 mentioned above. In principle, conflicts may occur in the case of several functions performed by the function modules F1, F2, F3. For example, a function Fi wants to request a particular object differently or just a very different object than another function Fk. The coordination module 44.17 takes over in these cases, a functionally higher coordination of these requirements and so, for example, resolves conflicts in the requirements.

In the context of an even more complex architecture, within the scope of the invention, of course, further

Function modules Fx be provided, which are not shown here in Figure 4. A detailed functional description of the numerous connections between the individual function modules still shown in FIG. 4 will be omitted here, since they are not relevant to the essence of the invention.

Claims

R. 314284 claims

1. A driver assistance system (1, 400) comprising a plurality of functional modules (Fl, F2, F3), in which a plurality of sensors (S1, S2, S3, 40, 41.1, 52) are provided for controlling these functional modules (F1, F2, F3). 41.2, 41.3, 41.4, 41.5,

41.6, 42.1, 42.2, 43.1, 43.2) data of the vehicle and data from the environment of the vehicle are detected, characterized in that the data of the sensors (Sl, S2, S3, 40,

41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) are processed in several stages or steps, wherein at least a part of the processing steps is functionally specific (function modules Fl, F2, F3) aligned.

2. driver assistance system according to claim 1, characterized in that the sensors (Sl, S2, S3, 40, 41.1,

41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) sensor groups (40, 41, 42, 43) are assigned, that the output signals of the sensors (Sl, S2, S3, 40, 41.1, 41.2, 41.3 , 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) of all

Sensor groups (40, 41, 42, 43) in at least a first processing step (function module 44.1) are processed together.

3. Driver assistance system according to one of the preceding

Claims, characterized in that the output signals of the sensors (S1, S2, S3, 40, 41.1, 41.2, 41.3, 41.4, 41.5,

41.6, 42.1, 42.2, 43.1, 43.2) of all sensor groups (40, 41,

42, 43) in the said at least one first processing step (function module 44.1) are checked for integrity. R. 314284

4. Driver assistance system according to one of the preceding claims, characterized in that the sensors (S1, S2, S3, 40, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) at least one sensor group (40 ) for the

Collection of vehicle data, a sensor group (41) for the detection of objects from the environment of the vehicle, a sensor group (42) for the detection of lanes or lane markings, as well as a sensor group (43) are assigned for the detection of traffic signs.

5. Driver assistance system according to one of the preceding claims, characterized in that provided for the object detection sensor group (41) comprises at least one Nahbereichsradarsensor (41.1), a Fernbereichsradarsensor (41.2), and an ultrasonic sensor (41.6).

6. driver assistance system according to one of the preceding claims, characterized in that following the joint processing of the output signals of all sensors (Sl, S2, S3, 40, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) in the function module (44.1) a sensor group specific processing of the output signals of the sensors (S1, S2, S3, 40, 41.1, 41.2, 41.3, 41.4, 41.5, 41.6, 42.1, 42.2, 43.1, 43.2) in the respective sensor groups (40 , 41, 42, 43) associated function modules (44.2, 44.5, 44.9, 44.10) takes place.

7. Driver assistance system according to one of the preceding claims, characterized in that at least one function module (44.16, 44.17, 44.18) is provided that performs coordination tasks.