CN104228831B - Method for preventing the tyre injury of motor vehicle - Google Patents
Method for preventing the tyre injury of motor vehicle Download PDFInfo
- Publication number
- CN104228831B CN104228831B CN201410251020.6A CN201410251020A CN104228831B CN 104228831 B CN104228831 B CN 104228831B CN 201410251020 A CN201410251020 A CN 201410251020A CN 104228831 B CN104228831 B CN 104228831B
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- CN
- China
- Prior art keywords
- harmful
- motor vehicle
- vehicle
- tire
- harmful object
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000006378 damage Effects 0.000 title claims abstract description 18
- 208000027418 Wounds and injury Diseases 0.000 title claims abstract description 13
- 208000014674 injury Diseases 0.000 title claims abstract description 12
- 230000009931 harmful effect Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000005389 magnetism Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 claims 1
- 230000003340 mental effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
Method for preventing the tyre injury of motor vehicle, it wherein executes the following steps: detecting harmful object, and it by harmful object classification and predicts the tire path of motor vehicle by the data obtained in detection and calculates vehicle evacuation route, to make the tire of motor vehicle not press through the nocuousness object when being to tire nocuousness by harmful object classification.
Description
Technical field
The present invention relates to the methods for preventing the tyre injury of motor vehicle.
Background technique
Driver assistance system is set in modern automotive to support driver under dangerous situation, is well-known
's.Therefore, other than common ABS and ESP system, in addition there are for auxiliary of parking, lane change, blind spot monitoring, friendship
Logical landmark identification, automatic distance alert, apart from adjustment and for the emergency braking system of pedestrian protecting and in accident
The pre-impact of clamping and pre- brake system (such as belt tensioning and emergency braking), these auxiliary systems are also well known.
10301790 A1 of DE is described with the road vehicle for reducing the device of impact injury risk, the device packet
The collision for being configured as identifying road vehicle in advance and the in this case identification device of output signal are included, wherein with the knowledge
The connection of other device or in conjunction with second device be configurable for changing terrain vehicle when receiving the signal for carrying out identification device
Direction of travel, to make rum point and/or impact direction change under unavoidable shock and optimize damage.
A kind of similar device as known to 0 903 714 B1 of EP, wherein being additionally contemplates that the occupied situation of vehicle
To protect the passenger in vehicle, vehicle is turned to from collision track (Kollisionskurz) thus and reduces personal wound to the greatest extent
Evil.
It remains desirable, however, that especially preventing the other auxiliary systems blown out.
Summary of the invention
What the purpose provided through the invention prevents the method for the tyre injury of motor vehicle from realizing:
It recognizes according to the present invention, the following steps can be executed to prevent the tyre injury of motor vehicle: detecting harmful object,
And it by harmful object classification and predicts the tire path of motor vehicle by the data obtained in detection and calculates vehicle evacuation
Route, to make the tire of motor vehicle not press through the nocuousness object when being to tire nocuousness by harmful object classification.
In other words, as to the harmful object of tire in search manoeuvre vehicle travel distance, and if it find that it is potential
Dangerous objects, then the damage according to caused by it classifies to it.Then the position of dangerous objects and vehicle route are carried out
Compare, if it is necessary, calculating the evacuation of motor vehicle to prevent tyre injury.
Under normal conditions, evacuation route is calculated so as to avoid by stable driving variation.
Preferably, the driving direction of motor vehicle changes automatically due to the evacuation route by calculating, so that motor vehicle
Tire does not press through one or more harmful objects.Well known influence turns to or the driver assistance system of vehicle route is suitable for
This.
It is also conceivable that only giving how driver must make manually the prompt of Vehicular turn, to prevent wheel tire pressure
Cross obstacle target.
It should be understood that simple vehicle stops equally possible being enough if necessary in the case where.
In view of motor vehicle path and harmful object classification, according to the height of such as object and it and vehicle
Relative position, evacuation route can take and by harmful object or cross above harmful object to the left or to the right.It is avoiding
When, vehicle can include that lane change auxiliary, dead angle such as assist to count at the information for optional, such as evacuation to another lane or
Opposing lane.Vehicle can also be used to vehicle communication in this case.It can also use navigation data and traffic data.
The detection of harmful object can optically (such as reflection, laser, camera etc.) be completed, based on wireless
The electromagnetic wave (radar (Rader) etc.) of electric frequency range is completed by magnetic (induction etc.).
Herein because produce mass data, additionally due to the situation in lane etc. is all to be easy error, future self-test
It is useful that the data of device, which arrange by Kalman filter,.
Summarize in detection process, other than detecting the presence (actually detected) of harmful object, also measures its size, opposite
In the position of vehicle and in needs measure object type, and classify.In other words, it has not only determined in lane
Potential dangerous object, but also the characteristic due to such as size and location and the type from the object characteristic that provides carries out
Classification, and then provide measure.It also determines whether that tyre injury occurs simultaneously and how to damage.
Tire-damage model can be used thus, including object (size, object type, composition, material etc.) and its
Harmfulness (the potential danger grade as caused by size, range, shape etc.).
Therefore, the mental section of sharp edges has damage feature different for such as plastic tube.
Advantageously, once be by harmful object classification it is harmful if reduce the speed of vehicle.It is supported and favorably with this
In evacuation process.
In another advantageous embodiment, the speed of vehicle is reduced when vehicle can not avoid again.It is made by introducing
Dynamic operation, has just reduced travel speed before knocking harmful object, to potential damage is down to extremely low.In addition,
When actually generating tyre injury, so that the speed of braking is extremely low.
Detailed description of the invention
Other features and details of the invention are provided by Detailed description of the invention below, in which:
Fig. 1 shows the flow chart for preventing the method process of tyre injury, and
Fig. 2 schematically shows motor vehicle when implementing this method.
Specific embodiment
Vehicle route (the step including tire path is predicted from vehicle sensors (step 1) via auto model (step 2)
3)。
If having now found that harmful object (step 4) in the tire path of prediction, harmful object will be measured as far as possible
Size, the position relative to vehicle or tire path and harmful Properties of Objects (step 5).
Then, it measures and harmful object of classifying is to the harmfulness (step 6) of vehicle tyre.In the process, importing comes from
Tire-damage model data (step 7), including object (size, object type, composition, material etc.) and its harmfulness
(the potential danger grade as caused by size, range, shape etc.).
Harmful object is classified as harmful, it is determined that route (step 8) is smoothly avoided, wherein importing vehicle data and ring
Border data (such as other vehicles in steering locking angle degree, speed, lane width, avoidance path etc.) (step 9).
Then vehicle is made to enter avoidance path to be avoided, and by steering assistance automatic implementation (step 10).
The vehicle F with tire R on the road with lane path P1 is schematically illustrated in Fig. 2.
It (with reference to the step 1) of Fig. 1, predicts to wrap via auto model (step 2) by other unshowned vehicle sensors
Include the vehicle route (step 3) in tire path.
In the front area placement sensor device S of vehicle F.Sensor device S may include appropriately combined or independent
Radar sensor, camera, ultrasonic sensor, LIDAR sensor.If sensor device S has found two metals before vehicle F
Profile is harmful object O1 and O2, and vehicle computing device B is determined by the sensing data of sensor device S, harmful object O1 and O2
Whether be located in the tire path of prediction (with reference to step 4) and harmful Properties of Objects, for example, size, relative to vehicle or wheel
The position in tire path (refers to step 5).
Then, it measures and the mental section O1 and O2 that classify (refers to step 6) to the harmfulness of tire R.In the process, it leads
Enter from tire-damage model data (with reference to step 7), including object (size, object type, composition, material etc.)
With its harmfulness (the potential danger grade as caused by size, range, shape etc.).
Under existing conditions it was determined that the front of left side tire will press through mental section O1 and in the process very
It can suffer from critical damage.
Accordingly, it is determined that stable evacuation route PA (refers to step 8), so that vehicle F was smoothly filled two from right side
A mental section O1, O2, wherein importing vehicle data and environmental data (such as steering locking angle degree, speed, lane width etc.).
In order to avoid vehicle F on evacuation route PA, car-mounted computer activates unshowned steering assistance automatically
(refer to step 10).
Claims (9)
1. the method for the tyre injury for preventing motor vehicle, which is characterized in that execute the following steps: harmful object is detected, and
And it by harmful object classification and predicts the tire path of motor vehicle by the data obtained in detection and calculates vehicle evacuation road
Line, to make the tire of motor vehicle not press through the nocuousness object when being to tire nocuousness by harmful object classification.
2. the method according to claim 1, which is characterized in that the driving direction of motor vehicle due to evacuation route calculated and from
Change dynamicly, so that the tire of motor vehicle does not press through one or more harmful objects.
3. method according to claim 1 or 2, which is characterized in that in the feelings in view of motor vehicle path and harmful object classification
Under condition, evacuation route, which is taken, to be passed through harmful object to the left or to the right or crosses above harmful object.
4. method according to claim 1 or 2, which is characterized in that by acoustic method or based on electromagnetic wave or by magnetism
To detect harmful object.
5. method according to claim 1 or 2, which is characterized in that optically detect harmful object.
6. method according to claim 1 or 2, which is characterized in that arrange the data that detection obtains by Kalman filter.
7. method according to claim 1 or 2, which is characterized in that other than detecting the presence of harmful object, also measurement is harmful
The size of object, relative to the position of motor vehicle and the type of possible object, and enter classifying step.
8. method according to claim 1 or 2, which is characterized in that once by harmful object classification be it is harmful, just reduce motor-driven
The speed of vehicle.
9. method according to claim 1 or 2, which is characterized in that once the evacuation route of motor vehicle is infeasible, just reduce motor-driven
The speed of vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013211204.1 | 2013-06-14 | ||
| DE102013211204 | 2013-06-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104228831A CN104228831A (en) | 2014-12-24 |
| CN104228831B true CN104228831B (en) | 2019-05-14 |
Family
ID=52217976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410251020.6A Expired - Fee Related CN104228831B (en) | 2013-06-14 | 2014-06-06 | Method for preventing the tyre injury of motor vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104228831B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10870352B2 (en) * | 2015-12-18 | 2020-12-22 | Volvo Truck Corporation | Method for controlling a safety system in a vehicle using an electric road system |
| US10262540B2 (en) * | 2016-01-29 | 2019-04-16 | Ford Global Technologies, Llc | Bollard receiver identification |
| WO2021062593A1 (en) * | 2019-09-30 | 2021-04-08 | Beijing Voyager Technology Co., Ltd. | Systems and methods for predicting bicycle trajectory |
| WO2022060458A1 (en) * | 2020-09-18 | 2022-03-24 | Stoneridge Electronics Ab | Curb detection system for commercial vehicles |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202481023U (en) * | 2012-03-09 | 2012-10-10 | 滨州市技师学院 | Anti-tyre-puncture device of automobile |
| CN102762436A (en) * | 2010-02-18 | 2012-10-31 | 罗伯特·博世有限公司 | Method for assisting a driver of a vehicle during a driving maneuver |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004330891A (en) * | 2003-05-08 | 2004-11-25 | Fujitsu Ten Ltd | Convenience improvement device |
| JP2005041329A (en) * | 2003-07-22 | 2005-02-17 | Tsunetaka Hiroi | Preventive device for tire puncture caused by running over nail etc |
| DE102010063742A1 (en) * | 2010-12-21 | 2012-06-21 | Deniz Yilmaz | motor vehicle |
-
2014
- 2014-06-06 CN CN201410251020.6A patent/CN104228831B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102762436A (en) * | 2010-02-18 | 2012-10-31 | 罗伯特·博世有限公司 | Method for assisting a driver of a vehicle during a driving maneuver |
| CN202481023U (en) * | 2012-03-09 | 2012-10-10 | 滨州市技师学院 | Anti-tyre-puncture device of automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104228831A (en) | 2014-12-24 |
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| C10 | Entry into substantive examination | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20190514 Termination date: 20200606 |