CN103958314A - Safety system for a vehicle - Google Patents

Safety system for a vehicle Download PDF

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Publication number
CN103958314A
CN103958314A CN201280058482.5A CN201280058482A CN103958314A CN 103958314 A CN103958314 A CN 103958314A CN 201280058482 A CN201280058482 A CN 201280058482A CN 103958314 A CN103958314 A CN 103958314A
Authority
CN
China
Prior art keywords
vehicle
rule
safety
driving
signal
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.)
Pending
Application number
CN201280058482.5A
Other languages
Chinese (zh)
Inventor
C·F·乌尔贝里
F·克拉松
M·林德贝里
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of CN103958314A publication Critical patent/CN103958314A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/25—Road altitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
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    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
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    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2710/00—Output or target parameters relating to a particular sub-units
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    • B60—VEHICLES IN GENERAL
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a safety system for a vehicle, comprising a forward looking camera (FLC) adapted to identifying and detecting circumstances and events substantially in front of the vehicle and to delivering a camera signal 2 based thereon. The safety system comprises an analysis unit 4 with a memory unit 6, a first regulating unit CU1 and a second regulating unit CU2. Said camera signal 2 is arranged to be conveyed to the analysis unit 4, and a set of safety rules for the vehicle and a set of driving rules for the vehicle are stored in the memory unit 6. The analysis unit 4 is adapted to analysing the camera signal 2 with respect to said set of safety rules for the vehicle and to delivering on the basis of the results of the analysis a first analysis signal 8 which is conveyed to said first regulating unit CU1, which is adapted to regulating one or more safety-regulated functions for the vehicle in response to first analysis signal 8. The analysis unit 4 is also adapted to analysing the camera signal 2 with respect to said set of driving rules for the vehicle and to delivering on the basis of the results of the analysis a second analysis signal 10 which is conveyed to said second regulating unit CU2, which is adapted to regulating one or more dynamic characteristics for the vehicle in response to said second analysis signal10.

Description

For the safety system of vehicle
Technical field
The present invention relates to the safety system for vehicle according to the preamble of independent claims.
Following term is common but is below briefly being described in this field.
That on FLC-forward sight pick up camera-vehicle, be loaded with and by the pick up camera of directed forward substantially.
The system that LDW-lane departure warning-be intended to is just leaving its moving traffic lane and carries out early warning vehicle.This forewarn system is configured to some the most common causes by making great efforts to prevent collision,, owing to diverting one's attention or the too tired and therefore chaufeur mistake due to carelessness too, makes accident minimized.
The advanced emergency brake system of AEBS--than other forewarn system senior and be intended to get involved to suppress the inevitably safety system of collision by this system, automatically apply to realize this system intervention by the brake-pressure before chaufeur starts braking even.
FCW-forward direction anti-collision warning-be intended to for example, by chaufeur early warning, activates braking ahead of time, inflates to provide extra support to seat, tightens up safety strap etc., comes the approaching collision of early warning and inhibition or avoids its system.
BSW-blind spot early warning-this system provides the early warning of the object to being positioned at so-called blind angle place, and this blind angle is angle nearest after vehicle and the angle that can not be relied on back mirror to be seen by chaufeur.
ACC-adaptive cruise control-guarantee that with radar or laser it slows down in the time that vehicle too approaches front vehicles, object is the system of accelerating subsequently in the time that traffic allows.
The distance of ground Clearance-nadir except its wheel from ground to vehicle.
Background technology
The mode of steering vehicle (for example truck or bus) changes according to the current driving situation of vehicle, the current driving situation of vehicle is by its environment, and quantity and the mode that they are just being driven etc. of the quantity of for example, moving traffic lane on the moment of one day (how bright sky have), road and their width, any approaching crossing, traffic signal, front vehicles limit.Limit these parameters of travel conditions by the mode that affects vehicle and driven.
By collecting the information about the environment of vehicle, can draw about expectation mode and the chaufeur of driving it and under particular condition, need some conclusion of what preparation.
Do not exist at present comprehensive image of the current driving situation that obtains vehicle to can therefrom reach a conclusion and help chaufeur correspondingly to adjust the known way of the behavior of vehicle.At present to the adjustment of Vehicular system normally completely based on interior vehicle signal, for example yaw angle signal (it is the tolerance around the rotative speed of the vehicle of vertical axis) or bearing circle angle signal.
Enumerate the example of some patent specifications of the known method of also having considered the information relevant with the environment of vehicle that relates in this area and equipment below.
US2007/182529 relates to the method for affecting the load on chaufeur and has described and can how suppress or delay to reach his/her information.Load on chaufeur can comprise the environmental characteristics of for example current traffic condition.Can record these characteristics so that the load in assess driver.
US5642093 relates to the forewarn system for vehicle, and it has directed front to receive two CCD type camera of view data.Analyze this image to be recorded to any " physiological stimulation ", for example, in road width, bending spring, front vehicles, obstacle on vehicle or the road of Roadside Parking, realize larger chaufeur consciousness.
EP0911234 relates to the kinetic control system for vehicle, and it is intended to the location of stablizing vehicle by bend or while coming off the curve when smoothly.
As discussed above, exist take comprehensive picture of current driving condition in case adjust afterwards the behavior of vehicle and the behavior that can also adjust chaufeur to cater to the needs of current driving condition.Comprehensive picture that above-named known technology is not all particularly suitable for using current driving condition in specification sheets is as showing that about the expectation drive manner of chaufeur should be the basis that what and he/her need the conclusion of what preparation under current driving condition.
Therefore object of the present invention is to propose a kind of system for the behavior of adjusting vehicle to be suitable for the safer driving of corresponding driving condition to realize.
Summary of the invention
Utilize the present invention who is limited by independent claims to realize above-mentioned purpose.
Limit preferred embodiment by dependent claims.
One aspect of the present invention relates to a kind of safety system for vehicle, comprises and is suitable for identifying and detecting the environment before vehicle and event and the forward sight pick up camera (FLC) based on this transmission camera signal substantially.This safety system comprises analytic unit, the first adjustment unit and second adjustment unit with storage location.Described camera signal is configured to be sent to analytic unit.Memory cell stores is for one group of safety rule and regular for one group of driving of vehicle of vehicle.Analytic unit is suitable for analyzing this camera signal about the described group of safety rule for vehicle, and the result based on this analysis is carried the first analytic signal, the first analytic signal is sent to the first adjustment unit, and the first adjustment unit is suitable for adjusting in response to described the first analytic signal one or more safety related functions of vehicle.This analytic unit is also suitable for analyzing this camera signal about the described group of driving rule for vehicle, and based on analyze result carry the second analytic signal, the second analytic signal is sent to the second adjustment unit, and the second adjustment unit is suitable for adjusting in response to described the second analytic signal one or more dynamic characteristicss of vehicle.
This advantage having is to make automobile to adjust its behavior according to current traffic condition, realizes safer vehicle and the more comfortable driving for chaufeur.Do not need any extra means of for example other sensor and so on, because use existing pick up camera.Additional advantage is that the range of observation of pick up camera, corresponding to the range of observation of chaufeur, this means that it approximately covers " visual field " identical with him/her.Therefore pick up camera can be to catch traffic with the roughly the same mode of chaufeur.
Brief description of the drawings
Fig. 1 is the block diagram schematically showing according to the safety system for vehicle of the present invention.
Detailed description of the invention
Therefore Fig. 1 describes the block diagram according to system of the present invention.
Currently use forward sight pick up camera (FLC) at the existing system for vehicle such as LDW and AEBS.Pick up camera must be equipped with General Analytical, for example, for recording about one group of sensor in the event of the traffic of vehicle front substantially.According to the present invention, this pick up camera forms the part of safety system, and in safety system, it is suitable for identification and detects environment and the event at vehicle front substantially, and carries camera signal 2 based on this.Safety system comprises analytic unit 4, the first adjustment unit CU1 and the second adjustment unit CU2 with storage location 6.Described camera signal 2 is arranged to and is transported to analytic unit 4.Storage location 6 storages are for one group of safety rule and regular for one group of driving of vehicle of vehicle.Analytic unit is suitable for analyzing this camera signal about the described group of safety rule for vehicle, and the result based on this analysis is carried the first analytic signal 8, the first analytic signal 8 is sent to described the first adjustment unit CU1, and the first adjustment unit CU1 is suitable for adjusting in response to described the first analytic signal one or more safety related functions of vehicle.This analytic unit is also suitable for analyzing this camera signal about the described group of driving rule for vehicle, and based on analyze result carry the second analytic signal 10, the second analytic signal 10 is sent to described the second adjustment unit CU2, and the second adjustment unit CU2 is suitable for adjusting in response to described the second analytic signal one or more dynamic characteristicss of vehicle.
Safety rule is intended to realize safer driving about the current driving condition of vehicle.Driving rule is intended to according to supporting and being convenient to the driving of chaufeur to vehicle to provisioning request in current driving condition.
Safety rule can comprise one or more in following:
-with the first safety rule of the distance dependent of the taillight at a distance of one or more vehicles in front,
-second safety rule relevant with volume of traffic,
-three safety rule relevant with the movement of surrounding vehicles, and
-four safety rule relevant with the position of surrounding vehicles.
The first safety rule can be used for detecting the multiple taillights in vehicle front a distance, and this certain distance is longer than desired stopping distance under current car speed all the time.Multiple taillights mean and at least two taillights of vehicle in succession detected.The second safety rule can be used for the low volume of traffic within a certain period of time of detection and straight way and constant speed restriction combination, wherein low volume of traffic mean coming/surmount/vehicle that is exceeded is less than one of per minute, and certain hour means 5 minutes or more.The definition of low volume of traffic can also have other values, for example, be less than every 30 seconds cars, and certain hour can be 3 minutes or more.The 3rd safety rule can be used for detecting and in the situation that there is no flashing light, changes track, travels, maintains abnormal speed in wrong side or cross over the vehicle of continuous lane mark.Vehicle maintains abnormal speed and means that their speed and the margin of speed of regulation depart from least ± 20%.The 4th safety rule can be used for detecting in the track on vehicle side, whether there is vehicle, can be the right and the both sides, the left side in its current track in the track on vehicle side.
Drive one or more in lising under can comprising of rule:
-drive rule with that detect with first of distance dependent obstacle,
-second driving the rule relevant with the roundabout bend detecting or sharp turn,
-three driving the rule relevant with the uneven road detecting,
-four driving the rule relevant with the flat road detecting,
-five driving the rule relevant with the tunnel detecting, and
-six driving the rule relevant with the end, tunnel detecting.
First drives rule can relate to the end or the red traffic signal that are shorter than the static queue that detects vehicle the corresponding stopping distance under the present speed at vehicle at the Distance Remaining of the static queue end/red traffic signal to vehicle.
Safety related functions relates to respect to detected environment and event adjusts chaufeur interface.It may be about send these functions to chaufeur under overcritical driving condition.Overcritical driving condition occurs can for example there is a lot of vehicles and/or road user on road in.Safety related functions can comprise:
-front anti-collision warning (FCW),
-capable of giving fatigue pre-warning to chaufeur,
-blind spot early warning (BSW),
-lane departure warning (LDW), and
-adaptive cruise control (ACC).
Safety related functions can be to adjust front anti-collision warning (FCW) earlier to carry early warning, adjust the capable of giving fatigue pre-warning of chaufeur earlier to carry early warning, adjust blind spot early warning (BSW) and be set to larger sensitivity with this early warning, adjust lane departure warning (LDW) earlier to carry early warning or early warning to be set to larger sensitivity, or adjust adaptive cruise control (ACC) to realize the longer predetermined early warning distance in the time that vehicle too approaches front vehicles.Earlier carry early warning or system to there is higher sensitivity or longer early warning distance means relevant to the standard configuration of various systems.
These adjustment to safety related functions can be depending on following safety rule.When in the time that the shorter distance of the stopping distance more required than vehicle detects multiple taillight, can suitably earlier carry front anti-collision warning (FCW) than the time arranging in system.Low volume of traffic on dull road route, has in the situation of forthright section of constant speed restriction, can suitably earlier carry capable of giving fatigue pre-warning and LDW than standard configuration.Move with irregular behavior at vehicle, do not have flashing light to change with instruction track, for example, surmount in abnormal mode (in wrong side or cross over continuous lane mark), or maintain may than the speed restriction of regulation slow in the situation of many or faster mal speed, the higher sensitivity for BSW and LDW can be suitably not only set, the shorter preset distance for ACC of distance that is considered to too approach front vehicles than routine is also set.Other combination between safety related functions and safety rule is also conceivable.
Early warning configuration can comprise carries out rank to can suppress or postpone to be considered to more incoherent early warning type under overcritical traffic to dissimilar early warning.In the same way, can improve the relevance that transmits most important early warning.
Dynamic function relates to the behavior of adjusting vehicle with respect to detected environment and event.The dynamic function of vehicle can be its whether turn/it has turned how many, whether it brake/it has braked how many, how hard its suspension is.They can be adjusted by following
-adjust the calibration (scaling) of brake pedal to change braking effect,
-adjust turning to servo-actuated electric power supply to be beneficial to turn,
-rely on its suspension to adjust the ground Clearance of vehicle,
The intensity of-adjustment instrument face plate illumination, or
-close passing light.
Principle combinations can as follows and be driven in these adjustment of dynamic function.When detect be shorter than the current stopping distance of vehicle to the static queue of front vehicles or to the distance of red traffic signal time, may be suitable be to change the calibration of brake pedal to change the braking force of vehicle and can brake more fiercely.In the time roundabout bend or sharp turn being detected, may be suitable be supply electric power to turning to servo-actuated or compensating air to hang in case make to turn easier.If the operation apparent order and condition aspect uneven or dull and stereotyped road detected, may be suitable be the ground Clearance that changes vehicle, for example when road when being uneven by raising it, or when road is smooth, reduce it to reduce consumption of fuel.In the time tunnel being detected, what possibility was suitable is the power that increases dial illumination.If end, tunnel detected, may be suitable be automatically to close passing light in the country that does not allow to use by day passing light.Other combinations between dynamic function and driving rule are also conceivable.
The invention is not restricted to above-described preferred embodiment.Can use various replacement schemes, amendment and equivalent.Therefore previous embodiment should not be considered to protection scope of the present invention that restriction is defined by the following claims.

Claims (5)

1. for a safety system for vehicle, comprise forward sight pick up camera (FLC), described forward sight pick up camera is suitable for identification and detects environment and the event in the front of described vehicle substantially, and carries camera signal (2) based on this,
It is characterized in that, described safety system comprises have storage location analytic unit (4), the first adjustment unit (CU1) and second adjustment unit (CU2) of (6), described camera signal (2) is configured to be sent to described analytic unit (4), and storage is for one group of safety rule and regular for one group of driving of described vehicle of described vehicle in described storage location (6)
Described analytic unit (4) is suitable for analyzing described camera signal (2) about the described group of safety rule for described vehicle, and the result based on analyzing is carried the first analytic signal (8), described the first analytic signal (8) is sent to described the first adjustment unit (CU1), described the first adjustment unit (CU1) is suitable for adjusting in response to described the first analytic signal (8) one or more safety adjustment functions of described vehicle
And, described analytic unit (4) is also suitable for analyzing described camera signal (2) about the described group of driving rule for described vehicle, and based on analyze result carry the second analytic signal (10), described the second analytic signal (10) is sent to described the second adjustment unit (CU2), described the second adjustment unit (CU2) is suitable for adjusting in response to described the second analytic signal (10) one or more dynamic characteristicss of described vehicle
Described safety rule comprises one or more in following rule:
-with the first safety rule of the distance dependent of the taillight of the one or more vehicles to front,
-second safety rule relevant with volume of traffic,
-three safety rule relevant with the movement of surrounding vehicles, and
-four safety rule relevant with the position of surrounding vehicles, and
The described rule of driving comprises one or more in following rule:
-drive rule with first of the distance dependent to obstacle detecting,
-second driving the rule relevant with the roundabout bend detecting or sharp turn,
-three driving the rule relevant with the uneven road detecting,
-four driving the rule relevant with the flat road detecting,
-five driving the rule relevant with the tunnel detecting, and
-six driving the rule relevant with the end, tunnel detecting.
2. safety system according to claim 1, is characterized in that, described safety related functions relates to for the environment detecting and event adjusts chaufeur interface.
3. safety system according to claim 1, is characterized in that, described dynamic characteristics relates to for the environment detecting and event adjusts chaufeur interface.
4. safety system according to claim 1, is characterized in that, the function that described safety is relevant comprises
-front anti-collision warning (FCW),
-capable of giving fatigue pre-warning to chaufeur,
-blind spot early warning (BSW),
-lane departure warning (LDW), and
-adaptive cruise control (ACC).
5. safety system according to claim 3, is characterized in that, adjusts described dynamic characteristics by following operation:
-adjust brake pedal calibration with change braking effect,
-adjust turning to servo-actuated electric power supply to be beneficial to turn,
-rely on its suspension to adjust the ground Clearance of vehicle,
The intensity of-adjustment instrument face plate illumination, or
-close passing light.
CN201280058482.5A 2011-11-28 2012-11-22 Safety system for a vehicle Pending CN103958314A (en)

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