DE102004045483A1 - A method and apparatus for detecting a driver's attention deficit - Google Patents

A method and apparatus for detecting a driver's attention deficit

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Publication number
DE102004045483A1
DE102004045483A1 DE200410045483 DE102004045483A DE102004045483A1 DE 102004045483 A1 DE102004045483 A1 DE 102004045483A1 DE 200410045483 DE200410045483 DE 200410045483 DE 102004045483 A DE102004045483 A DE 102004045483A DE 102004045483 A1 DE102004045483 A1 DE 102004045483A1
Authority
DE
Germany
Prior art keywords
lane
driver
characterized
motor vehicle
method according
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.)
Withdrawn
Application number
DE200410045483
Other languages
German (de)
Inventor
Axel Dipl.-Inform. Gern
Rainer Dipl.-Ing. Möbus
Volker Dipl.-Ing. Oltmann
Bernd Dipl.-Inform. Woltermann
Zoltan Dr.-Ing. Zomotor
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.)
DaimlerChrysler AG
Original Assignee
DaimlerChrysler AG
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 DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE200410045483 priority Critical patent/DE102004045483A1/en
Publication of DE102004045483A1 publication Critical patent/DE102004045483A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT 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
    • B60K28/00Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver

Abstract

In order to detect a driver's attention deficit in a traveling motor vehicle, a control circuit without active driver intervention intervenes in the steering and / or braking system of the motor vehicle to correct its direction of travel (S10), and an attention deficit is detected (S11) when the driver does not deflect in a predetermined manner. In this case, the position of the motor vehicle is continuously monitored on a lane traveled by him (S1, S5) to detect an imminent leaving the lane, and the intervention in the steering (S10) only takes place when the monitoring indicates an imminent departure from the lane ,

Description

  • The The present invention relates to a method for detecting a Attention deficits of a driver in a moving motor vehicle, and an apparatus for carrying out this method.
  • Out WO 02/17787 a method and a device are known in which a control circuit without active intervention of the driver in the Steering of the motor vehicle acts to the direction of travel of the motor vehicle slight to change, and a driver's attention deficit is detected when this one not responding in a predetermined manner. Generally, the driver should of a motor vehicle 100% control over the Vehicle, to be sure that this is not in behaves unpredictably, because any unexpected behavior of the vehicle ultimately harbors Risk of accidents. The cited script tries to solve this problem to get around by the extent of the intervention is kept so low in the steering of the motor vehicle, that this "im Noise goes down ", what means that the extent of Not stronger should be considered as unforeseen direction changes due to external causes such as road bumps, gusts, etc. constantly occurring and continuously compensated by an attentive driver become.
  • ever smaller is such an intervention, the greater of course is the probability that the driver does not respond to him in the expected way because he perceives the procedure as too small, at all compensation in need to be, or because he is temporally with an external influence overlapping on the direction of travel, which conceals the procedure.
  • If An attention deficit is detected, it is required within short Time to warn the driver to restore his attention, or correctively intervene in the steering, in the latter Case a degree of correction adapted to the situation be permissible must, for example, to prevent an accident.
  • It So the following dilemma arises: do you interfere with the Vehicle steering, with which the driver's attention is tested is to be too small, so is based on the reaction of the driver a single such intervention no permissible statement about its Attention level possible. Leading Instead, a variety of minor interventions and hires Attention deficit only firm if on a sufficient number such interventions no driver reaction takes place to the expected extent, then a timely detection of an attention deficit is not more is possible, and the value of attention monitoring to Prevention of accidents is severely limited. If you make the extent of the Engaging so big that every intervention requires a driver reaction, so increases the risk of accidents when the driver of such an intervention surprised at an inappropriate time becomes.
  • task of the invention is a method and apparatus for detecting of an attention deficit with a minimum Number of interventions a reliable one Assess the level of attention of the driver to each relevant Allow time.
  • The Task is solved by that the position of the motor vehicle on a lane traveled by him constantly monitored is to allow for any upcoming leaving the lane recognize, and a review of Attention of the driver by engaging in the steering and / or Brake system then performed will if the monitoring indicates an imminent leaving the lane due to lack of Attention of the driver could be caused. If, on the other hand, leaving the lane is wanted by the driver, it can be assumed that at this point he paid close attention to the course of the vehicle gives and is capable of a noticeable intervention of the control circuit to respond appropriately to the vehicle steering system. The review of Attention is preferably given, if not certainly recognizable is whether the driver is alert and intends to leave a lane is.
  • Around not just to test the driver's attention, but in the case lack of attention at the same time reduce the risk of accidents, should the intervention of the control circuit in the steering a leave counteract the lane.
  • If an attention deficit is detected, by generating a Warning signal the driver's attention be restored. This warning signal can be particularly optical, acoustic or be haptic nature.
  • A sufficient attention of the driver is found in particular then if the counter steering within a predetermined period of time the intervention takes place. Another criterion can be achieved serve a predetermined deflection of the counter-steering movement.
  • If an attention deficit is detected, may suitably another engagement of the control circuit in the vehicle control done to prevent leaving the lane. The extent of this second engagement can be much stronger than that of the first.
  • at The second intervention may in turn be an intervention in the steering and / or the brake system, either to Einzelradbremsungen or a braking of all wheels of the motor vehicle.
  • The length of time that the driver's attention test procedure precedes a predicted lane departure time may be determined depending on one or more of the following parameters:
    • - the width of the lane: the wider it is, the more pendulum movements of the motor vehicle can be allowed on the lane, for example, if the driver evades in oncoming traffic to the right lane boundary or evades when driving past passers to the middle of the lane.
    • - the speed of the motor vehicle: the higher the speed and, consequently, the higher the risk potential, the lower the warning threshold may be.
    • The angle between the heading of the motor vehicle and the course of the lane: a rapid increase in the angle, especially at low driving speeds, tends to suggest a deliberate driver's steering, whereas slow drifting may be due to a driver falling asleep or inattentive , The direction of drift may also be significant: drifting to the right and simultaneously decreasing speed may be quite a deliberate departure from a highway or expressway while driving to the left may be due to lack of attention as the speed decreases declining. Conversely, drifting to the left with increasing speed indicates a presumed overtaking maneuver, while an increasing speed when drifting to the right is probably not wanted. In the unwanted case, an early examination of the driver's attention is always appropriate. The time span can also be determined on the basis of the course of the movement direction (trajectories) of other road users. For example, the travel of preceding vehicles relative to lane markings may be considered.
  • There for detecting the position of the motor vehicle on the lane in the Rule anyway a detection of a lane marker such as one Middle or marginal strip of the roadway will be erforder Lich, Only little technical effort is required in addition to the Type of track marking (wide or narrow, solid or broken) capture. At the approach A solid mark may be due to a lack of attention of the driver and is an early review of attention displayed.
  • If the vehicle over has a navigation system, can the inventive method with little effort also information of the navigation system over the Type of road used use this information to calculate the speed, the course of the vehicle in relation to the roadway, etc. as more or less noticeable to judge and over the urgency of a test to decide the attention. Also the nature of the environment, through the the busy road runs, can be used as a criterion. So is about a curvy Street in mountainous terrain with an approach to the lane edge connected danger far greater than on a highway with hard shoulder, so in the former case a exam the driver's attention already at an easy approach be appropriate to the roadside can, whereas in the latter case, even the driving on the right edge strip itself does not contain any immediate danger.
  • The same criteria can also for a decision over the extent of Engaged in the steering and / or braking system are used.
  • If the driver on the intervention in the steering and / or brake system reacts in the given way, a lane change is allowed without the driver with a warning signal or another intervention in to bother the steering and / or brake system.
  • If A lane change has been approved for a certain period of time be assumed by a high degree of attention of the driver, so that a re-examination of attention can be omitted during this period. All the more so as in a lane change from the right to the left lane a renewed change in the opposite direction mostly after follows a short time and is intended by the driver.
  • Further, various actions that the driver may perform in the vehicle may be considered indicative of a sufficient level of attention, such that when one of these actions is registered, further attention checking may be required conditions for a given period of time can be omitted. These actions may include in particular:
    • The actuation of a driving, clutch or brake pedal,
    • A steering movement,
    • - a change of gait,
    • - An operation of a switch, such as a turn signal, windscreen wiper, light switch, etc., to switches of additional devices such as navigation system or car radio.
  • The Time span while that's the attention check repressed can be, on the extent of pedal operation or the steering movement, the type of switch actuated or else be made dependent on the vehicle speed.
  • If In the vehicle a navigation system is active, can during capture an approach the vehicle to a lane boundary also be considered, whether at the same time the navigation system suggests leaving the lane, and the Attentional Performance may be omitted if such a proposal exists. In this Case can be assumed to be leaving the lane by the driver, and a driver's attention by one Attentional Performance can be avoided. When deciding whether the attention check is performed or not, can also be considered be in which direction the proposal of the navigation system According to the lane should be left, and in which direction the vehicle approaches the lane edge. If both directions do not match, is expediently nevertheless an attention check carried out.
  • A Apparatus for carrying out of the method as described above comprises in addition to a control circuit to decide about the need for intervention in the steering and / or brake system of the vehicle and if necessary Perform the Engaging in the steering and / or Bremseinlage one to the control circuit coupled sensor for detecting the position of the motor vehicle relative to a lane, and the control circuit is set up over the Necessity of intervention on the basis of the results of the detection Sensor to decide.
  • Further Features and advantages of the invention will become apparent from the following Description of exemplary embodiments with reference to the attached Characters. Show it:
  • 1 a schematic representation of a vehicle equipped with a device according to the invention, which moves in a lane;
  • 2 a block diagram of a monitoring device of the vehicle with servomotor and adder; and
  • 3 a flowchart of a working method of the monitoring device.
  • In 1 is a schematic plan view of a motor vehicle 1 Watching that on a right lane 2 a two-lane road moves. The lane 2 is provided with a lane mark on the right and left; on the right side in the form of a solid border strip 3 marking the transition to a non-drivable siding or the like, and on the left a median strip 4 which can be interrupted or pulled through as shown.
  • The car 1 is with at least one, in this case two cameras 5 equipped, each along an optical axis shown as a dotted line on an obliquely in front of the motor vehicle 1 lying area of the lane 2 are aligned to there the lane boundary strip 3 respectively. 4 capture.
  • As in 2 shown are the two cameras 5 to a control circuit 6 coupled. The control circuit 6 comprises a microcontroller with an image processing program designed in a manner known per se to be in from the cameras 5 supplied images each the lane boundary marker 3 or 4 to recognize and from the distance δl or δr of the vehicle from the left or right edge of the lane 2 to calculate.
  • The control circuit 6 is also to a sensor 7 connected, for detecting a driver turned nen steering angle on the steering wheel 8th of the motor vehicle is used. The position of the steerable wheels of the vehicle is in this embodiment by a servomotor 9 depending on the sensor 7 controlled steering angle controlled. For this purpose are the sensor 7 and the servomotor 9 via an adder 10 connected, the one with the control circuit 6 connected input and it has the control circuit 6 so allows the position of the wheels slightly different from that of the driver on the steering wheel 8th to control the adjusted position. In this context, alternatively, it is also possible to use steering systems with torque actuators. The monitoring device can also be designed such that it acts in addition to the steering on the brake system of the motor vehicle, for example by means of Einzelradbremsung.
  • The control circuit 6 is also to a data bus 11 connected to the vehicle, among other things, serves to control commands from various in the passenger compartment of the motor vehicle 1 arranged switches or controllers to receive or transmit to associated actuators at other locations of the vehicle, such as a windshield wiper switch to a windshield wiper drive motor, from a remote or dimmer light switch to a corresponding relay of a headlamp, etc .. About the connection to the data bus 11 is the control circuit 6 able to receive all of these commands and their appearance on the data bus 11 in the case of switches normally operated by the driver, to conclude that the driver is awake.
  • A preferred embodiment is according to the data bus 11 also a vehicle navigation system 12 connected, which determines the geographical position of the vehicle in a conventional manner based on received radio signals, identified on the basis of entrained cartographic information a road on which the vehicle is located, and on the basis of previously entered by the driver information about a destination with the driver Information about a track to follow.
  • According to the invention, it is provided that this navigation system 12 In addition, information about the route to be traveled, in particular about a soon to leave the currently traveled lane to the right or to the left as well as information about the nature of the just passed environment in from the control circuit 6 evaluable form on the data bus 11 outputs.
  • The operation of the control circuit 6 is based on the flowchart of 3 explained.
  • The first processing step S1 is the determination of the distance δl, δr of the motor vehicle 1 from the left or right lane boundary marking, here the edge or middle strip 3 respectively. 4 , by means of through the cameras 5 supplied images, and the judgment whether the mark is a solid or an interrupted strip. If the roadway no such stripes 3 or 4 has, the image processing program of the control unit 6 expediently designed to road boundary posts 13 to identify and to judge the distance to them.
  • Subsequently, will tested in step S2, whether the driver has taken any action that concludes allow him to be alert and alert. Such actions can, like already mentioned, the operation a switch, but also the operation of the driving, coupling or brake pedals, in a vehicle with manual transmission, a gear change, or an operation be the steering wheel. As a steering wheel movement is not excluded is when the driver has dropped in second-sleep, this is as Note that the alertness of the driver can only be valued if they have a given minimum speed or minimum deflection, over one Certain value achieved.
  • If it is determined that the driver has performed such an action, in step 3 set a blocking time whose length can be specified differently depending on the nature of the detected action, and whose function is also explained. Subsequently, the method returns to the output and, possibly after a predetermined waiting time, starts again with step S1.
  • If no action of the driver is detected in step S2, it is next checked in step S4 if a lock time set in a previous step S3 has elapsed. If not, the process also returns to the exit, if yes, it checks in step S5 whether one of the measured distance values .DELTA.R is .DELTA.L is less than a corresponding minimum value .DELTA.R min respectively, .DELTA.L min, These two limit values can be the same, it may but also the limit δl min be chosen smaller than δr min , because in many cases those with the approach to the median strip 4 connected danger is less than that at too close approach to the right edge of the road. In general, the limit for the approach to a solid boundary strip can be set higher than for the approach to an interrupted. If lack of boundary strip 3 . 5 Roadway delineator 13 This is of course taken into account when determining the limit values δr min or δl min .
  • In principle, the illustrated method may be interrupted at any time in order to update the limits δr min , δl min based on information about the surroundings of the vehicle, for example by δl min increase to V , if one of the two cameras 5 Oncoming traffic in the left lane detected, and after passing the oncoming traffic to reset the limit value to its original value, or to raise δr min if from the navigation system 12 receiving information indicating that the vehicle is moving in mountainous terrain and could be on a slope beyond the right-hand lane edge.
  • If the limit values δr min , δl min are not undershot, the control circuit calculates 6 Based on values of δl, δr obtained at successive iterations of the method at different times, the speed dδl / dt, dδr / dt, with which the vehicle approaches the left or lane edge approaches (S6), and from an estimated time Tl, Tr until reaching the left or right lane edge (S7). These times are respectively compared with limits Tr min , Tl min in step S8, and if they do not fall below the limits, it is determined that the vehicle is safely on its lane, and the process returns to the exit. If one of the calculated times Tr, Tl falls below the assigned limit value, it is first checked in step S9 whether route information from the navigation system 12 that could be a reason for leaving the lane to the right or left. If so, it is assumed that an eventual lane departure from the driver is intentional, and the process also returns to exit.
  • If no route information justifying leaving the lane is from the navigation system 12 is present, the control circuit leads 6 As shown in this example, in step S10, an intervention in the vehicle steering system by sending it to the adder 10 outputs a control signal that opposes leaving the lane. Alternatively or in addition to an intervention in the steering system, an engagement in the brake system may take place here, for example in the form of individual wheel braking. Subsequently, in step S11, the control circuit monitors 6 the output signal of the sensor 7 to determine if the driver is performing a counter-steering movement. If this is detected, it can be concluded that the driver is awake and attentive, and that he really wanted to leave the lane. In this case, the method also returns to the exit, optionally, as indicated by a dashed arrow in FIG 3 indicated via the step S3 of setting a lock time.
  • If the driver's backlash is not detected within a predetermined time in step S11, this indicates a driver's lack of attention. The response of the control circuit to it in step S12 may consist of the simple output of an optical, audible or haptic warning signal to the driver, but it may also vary, depending on how the control circuit 6 assessed a possible current threat. If a driver's backlash is detected, but it is weak or comes with a great deal of delay, the driver is obviously still awake, but may be tired or unfocused, and a simple warning may be sufficient. This can eg in the operation of a light indicator, a buzzer, the output of a voice message, eg via the data bus 11 and one of the Naviga tion system 12 used speakers, in the operation of a built-in steering wheel vibrator or the like. If a counter-reaction is completely absent, so that it is to be feared that the driver has fallen asleep, further interventions by the control circuit can also be performed in step S12 6 when driving such as increased steering intervention to the vehicle in the lane 2 to stop, or a stunt should be indicated. In order to limit such interventions to an actual emergency, it can be provided that they are only performed if other steering interventions S10 have already been carried out in an immediately preceding period of several minutes and, following this, a delayed counter-reaction of the driver is observed in step S11 has been.

Claims (15)

  1. A method for detecting an attention deficit of a driver in a moving motor vehicle, in which b) a control circuit without active intervention of the driver in the steering and / or braking system of the motor vehicle acts to correct the direction of travel (S10), and c) an attention deficit is detected (S11), if the driver does not respond in a manner adapted to the situation, in particular counteracts, characterized in that a) the position of the motor vehicle is continuously monitored on a lane traveled by him (S1, S5) to an imminent leaving the Lane to recognize, and the step b) is performed when the monitoring indicates an imminent departure from the lane.
  2. Method according to claim 1, characterized in that that the engagement (S10) of the control circuit in the steering and / or Braking system in step b) counteracts leaving the lane.
  3. Method according to claim 1 or 2, characterized that when in step c) (S11) recognized an attention deficit will be a warning signal to restore the attention of the Driver is generated (S12).
  4. Method according to one of the preceding claims, characterized characterized in that the countersteering in a predetermined manner in step c) (S11) countersteering within a predetermined period of time and / or with a given steering deflection.
  5. Method according to one of the preceding claims, characterized characterized in that if in step c) (S11) an attention deficit is detected, another intervention of the control circuit in the vehicle control (S12) to prevent the lane from leaving the lane.
  6. A method according to claim 5, characterized gekenn records that the further engagement (S12) is an intervention in the steering and / or braking of individual or all wheels of the motor vehicle.
  7. Method according to one of the preceding claims, thereby in that the period by which the intervention of the Step b) (S10) a predicted time of leaving the lane precedes, depending on set by one or more of the following parameters: - the width the lane, - of the Speed of the motor vehicle, - the angle between the course of the motor vehicle and the course of the lane, - lateral Position of the motor vehicle on the lane, - the direction, in which the lane threatens to be abandoned, - the kind the lane marking, - of the Type of road, - the kind the environment through which the busy road passes - the trajectories of other road users.
  8. Method according to one of the preceding claims, thereby in that the extent of the intervention of the step b) (S10) depending set by one or more of the following parameters: - the width the lane, - of the Speed of the motor vehicle, - the angle between the course of the motor vehicle and the course of the lane, - lateral Position of the motor vehicle on the lane, - the direction, in which the lane threatens to be abandoned, - the kind the lane marking, - of the Type of road, - the kind the environment through which the busy road passes - the trajectories of other road users.
  9. Method according to one of the preceding claims, characterized characterized in that when the driver in step c) (S11) in the given way deflects, a lane change without generating a warning signal and allowed without further intervention.
  10. Method according to claim 9, characterized in that if a lane change has been allowed, at least the Steps b) and c) (S10, S11) during a predetermined period of time are not executed.
  11. Method according to one of the preceding claims, characterized characterized in that predetermined actions of the driver registered (S2), and that if any of these actions have been registered is, at least steps b) and c) (S10, S11) during a given time period are not executed.
  12. Method according to claim 11, characterized in that that the given actions one or more of the following actions include: - Press one Driving, Clutch, or Brake Pedals, A steering movement, - Switch the gangs, - Press one Switch.
  13. Method according to claim 12, characterized, that the predetermined time based on one or more of the following criteria is determined: - extent of pedal operation or the steering movement, - Art of the actuated switch - Vehicle speed.
  14. Method according to one of the preceding claims, characterized in that, if an imminent departure from the lane is detected in step a), it is checked (S9) whether at the same time a navigation system ( 12 ) leaving the lane ( 2 ) and steps b) and c) (S10, S11) are not executed when the navigation system ( 12 ) suggests leaving the lane.
  15. Device for carrying out the method according to one of the preceding claims, with a control circuit ( 6 ) for deciding on the need to intervene in the steering of the vehicle and, if necessary, performing the intervention in the steering (S10), characterized in that one to the control circuit ( 6 ) coupled sensor ( 5 ) for detecting the position of the motor vehicle ( 1 ) relative to a lane ( 2 ) and that the control circuit ( 6 ) on the necessity based on the detection results of the sensor ( 6 ) to decide.
DE200410045483 2004-09-20 2004-09-20 A method and apparatus for detecting a driver's attention deficit Withdrawn DE102004045483A1 (en)

Priority Applications (1)

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DE200410045483 DE102004045483A1 (en) 2004-09-20 2004-09-20 A method and apparatus for detecting a driver's attention deficit
PCT/EP2005/009040 WO2006032337A2 (en) 2004-09-20 2005-08-22 Method and device for detecting a deficit in the attention of a driver

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DE102008004908A1 (en) * 2008-01-18 2009-07-23 GM Global Technology Operations, Inc., Detroit Motor vehicle, has control device outputting reference signal in intervals and detecting reaction time of driver to reference signal, where control device controls vehicle components for outputting reference signal
DE102008046695A1 (en) * 2008-09-10 2010-03-11 Volkswagen Ag Critical driving condition identifying method for motor vehicle, involves comparing actual driving conditions after diversion situation of driver with future driving conditions, and forming measure for criticality of actual conditions
DE102011116301A1 (en) 2011-10-18 2012-04-12 Daimler Ag Driver assistance system for motor car, has regulating device for implementing supporting interventions, where degree of driving support made by regulating device is provided based on detected degree of attention
DE102011114655A1 (en) 2011-09-30 2013-04-04 Daimler Ag Method for detecting attention deficit of driver of vehicle, involves performing active control of steering device engaged with braking device, according to recognition result of departure lane of vehicle
DE112006000550B4 (en) * 2005-04-14 2015-10-22 Conti Temic Microelectronic Gmbh Driver assistance system for fatigue detection and / or attention evaluation of a driver
DE102016215643A1 (en) 2016-02-15 2017-08-17 Bayerische Motoren Werke Aktiengesellschaft Method and assistant for preventing the unintentional leaving of the road
US10424199B2 (en) 2014-02-13 2019-09-24 Mitsubishi Electric Corporation Communication apparatus, operation assistance apparatus, and operation assistance system

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DE112006000550B4 (en) * 2005-04-14 2015-10-22 Conti Temic Microelectronic Gmbh Driver assistance system for fatigue detection and / or attention evaluation of a driver
DE102006028610A1 (en) * 2006-06-22 2007-12-27 Volkswagen Ag Driver assistance system for e.g. monitoring lane turning of motor vehicle, has warning mechanism that is generated due to unintentional turning of lane or occupied adjacent track, where mechanism is indicated as steering wheel vibration
DE102008004908A1 (en) * 2008-01-18 2009-07-23 GM Global Technology Operations, Inc., Detroit Motor vehicle, has control device outputting reference signal in intervals and detecting reaction time of driver to reference signal, where control device controls vehicle components for outputting reference signal
DE102008046695A1 (en) * 2008-09-10 2010-03-11 Volkswagen Ag Critical driving condition identifying method for motor vehicle, involves comparing actual driving conditions after diversion situation of driver with future driving conditions, and forming measure for criticality of actual conditions
DE102011114655A1 (en) 2011-09-30 2013-04-04 Daimler Ag Method for detecting attention deficit of driver of vehicle, involves performing active control of steering device engaged with braking device, according to recognition result of departure lane of vehicle
DE102011116301A1 (en) 2011-10-18 2012-04-12 Daimler Ag Driver assistance system for motor car, has regulating device for implementing supporting interventions, where degree of driving support made by regulating device is provided based on detected degree of attention
US10424199B2 (en) 2014-02-13 2019-09-24 Mitsubishi Electric Corporation Communication apparatus, operation assistance apparatus, and operation assistance system
DE102016215643A1 (en) 2016-02-15 2017-08-17 Bayerische Motoren Werke Aktiengesellschaft Method and assistant for preventing the unintentional leaving of the road

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