DE102006002662A1 - Car safety system comprises proximity sensors on rear of car and warning devices which indicate when car is about to change lane and are connected e.g. to sensors which detect lane markings - Google Patents

Abstract

The car safety system comprises proximity sensors (4, 5) on the rear of the car and warning devices (19, 22) which indicate when the car is about to change lane. These are connected e.g. to sensors (15, 16) which detect the lane markings. An independent claim is included for a method for operating the system.

Description

The Invention is in the field of vehicle safety. The security is a modern vehicle regardless of the vehicle class one the most important properties. Security features are both in luxury class cars as well as compact cars more natural and it's getting bigger and bigger offered at security facilities. These include, for example Parking aids, distance warning devices, Autopilot, lane-departure systems that alert the driver make that he is about to leave the lane etc.

aim is in bringing in new features that the appropriate Device absolutely reliable works that it increases safety without the ride comfort too impair and that it is easy to implement and inexpensive.

The The present invention relates to a safety device for a Vehicle with at least one distance sensor at the rear end of the Vehicle.

Safety devices for motor vehicles with distance sensors are known for example from the German patent application DE 103 32 961 A1 known. There, a method and apparatus for determining the position of a vehicle during a parking maneuver is known, with which an immersion in an opposite lane during a parking operation can be predicted so that this immersion can be prevented or warned. For this purpose, parameters of the trajectory of the vehicle are determined by means of distance sensors and then the expected travel path is calculated in advance. Distance sensors are used for this purpose.

From the European patent application EP 1 470 977 A1 is for a motor vehicle, a parking and driving assistance known with a distance warning, which emits a signal when reaching a certain minimum distance, the minimum distance is dynamically variable depending on the driving situation. When falling below the minimum distance is intervened in a driving parameter of a vehicle device to avert dangerous situations.

From the German patent application DE 103 41 128 A1 is also a system with distance sensors for supporting a parking operation known. In the local assessment of the prior art (WO 99/32318) also a control system for speed and distance when changing lanes of a motor vehicle is described in the distance measurements in the control process with go.

In front In this background, the present invention has the object underlying, in a safety device of the aforementioned Kind with as possible small additional Cost an increase Driving safety without sacrificing comfort.

These The object is achieved by a Safety device with the features of claim 1 and / or solved by a method having the features of claim 9.

Accordingly, it is provided:
A safety device for a vehicle having at least one distance sensor at the rear end of the vehicle and with a lane change warning device, which has greater distance limits than a parking aid and which responds as soon as there is a risk in a lane change to get close to another vehicle. (Claim 1) It may also be provided a switching device for switching on the lane change warning device.

One Method for operating a safety device for a vehicle, in which the distance to an additional vehicle located behind the vehicle is determined by means of a distance sensor, in which a steering intention of the driver is detected and in which falls below a certain Distance limit value and presence of a steering intention is a warning signal or the implementation of the intention to steer is influenced. (Claim 9)

If Distance sensors already provided at the rear end of a vehicle are, as for example at Einparkhilfseinrichtungen the Case is, then you can these according to the invention additionally for one Lane change warning device are used, wherein at the second Use higher Distance limits for a minimum distance must apply. For this reason, a corresponding distance sensor in a first operating mode for a Einparkhilfseinrichtung be used and in a second Operating mode with higher minimum distance values are set for a lane change warning device. For that reason is advantageous a switching device is provided which from a first operating state switched to a second one. This switching device can either manually operated be automatically or if exceeded a certain speed from the parking assist mode to the lane change warning mode switch over and vice versa.

In the lane change warning device, a distance sensor at the rear end of the vehicle is used in such a way that it is determined whether behind the vehicle in the so-called blind spot Another vehicle is located, which has either just been overhauled or even begins to overtake.

In both cases is a lane change of the vehicle associated with hazards. Basically the described driving situation during the ride will be reported to the driver so that he knows that he may not change lanes at any given time. These corresponding warning signals can but disturbing act as often over longer There is no intention to change the lane. For this reason It may be advantageous if the lane change warning device with Associated with means that detect a lane change intent of the driver. Under this condition, then, if another vehicle is in the blind spot and the lane change warning device a Lane change intent detected, issued a warning or in the operation of the vehicle to be intervened.

Around to detect the lane change intent, for example, a sensor for detecting the turn signal activity be provided. If a turn signal is then operated before shearing off, then the lane change warning device checks the driving situation and gives a warning or attacks in the driving behavior, as soon as the turn signal is actuated.

It can additionally or alternatively provided sensors for detecting the intention to steer be, for example, a pressure or torque on the steering wheel is detected, or a sensor for detecting the steering angle is installed.

Around to recognize the case that a steering sheave or a Steering intent is based only on the fact that a cornering is imminent it is advantageous if a sensor for detecting lane markings is provided. In this case, the curve can match the actual Lenkgeschehen be compared and determined from whether the lane is changed.

The Lane markings can for example, be captured by a camera, either after is directed forward in the direction of travel or to the side or through optical sensors, which are arranged on the long sides of the car and monitor the car side room.

Additionally proves it is advantageous if a sensor for detecting the speed of the Vehicle is connected to the lane change warning device. The Speed can then be used in all forecasts or risk assessments be included.

The appropriate danger situation can be estimated even better if the lane change warning device has a computing device for determining the relative speed of the vehicle with respect to the other moving vehicle has.

Out the time-changing ones Measurements of the distance sensor in this case becomes an approximation or Distance of the vehicle calculated from the other vehicle. Especially when the other vehicle approaches, There is a high risk when changing lanes.

It can by means of the distance sensor the presence of another Vehicle can be detected in the blind spot and in presence a steering intention can by the inventive method greater danger be averted.

at The method can also be provided that the warning signal is only issued and the Reacting the steering intention is only affected if the predicted Vehicle trajectory itself a predicted trajectory of a approaching another vehicle so far, there is a risk of collision. This sets a more accurate prediction about the future Relative movement of the vehicle or the other vehicle ahead. Data on this can by recording the measured values of the distance sensor or several Distance sensors are obtained. If the distance sensors at different Positions of the vehicle are fixed, and the speed of the vehicle is known, can be a future Relative movement, especially when the steering angle known is, predicted and overlapping be diagnosed by vehicle trajectories.

The Hazardous situation can be eliminated on the one hand, that the driver is warned by a warning signal, which, for example, acoustically or op table can act as well as haptic example, thereby that the steering wheel is made to vibrate.

on the other hand can Hazardous situations can also be avoided by having the actual Driving behavior is influenced, for example, that the Effect of the power steering reduced becomes what the driver noticed immediately and which makes steering movements clear be slowed down. The Ausscheren to the lane change is so slows down and the driver has time to take back steering movements.

It can also limit the steering angle, which also has the consequence that the lane change can not be initiated abruptly. Also, a noticeable threshold can be generated at the steering angle, which indicates to the driver that the steering wheel should better not be moved over the threshold. For safety reasons, the threshold for the driver can be overcome, so that in special dangerous situations, the steering angle in each case is freely selectable.

in the Below, the invention will be shown with reference to an embodiment and described below. It shows

1 schematically from above a vehicle with distance sensors and a part of another vehicle in the blind spot of the left side mirror;

2 schematically a lane change warning device;

3 a flowchart relating to the inventive method.

1 shows a vehicle in a plan view 1 schematically with two distance sensors 2 . 3 at the front end and two distance sensors 4 . 5 at the far end. With 6 and 7 are the detection cones of the rear distance sensors 4 . 5 designated.

The vehicle is on a lane 8th between a center mark 9 and an edge marker 10 and moves in the direction of the arrow 11 , In the direction of travel on the left behind the vehicle 1 there is another vehicle 12 , which is only partially and schematically shown. The other vehicle 12 is through the left rear distance sensor 4 in its detection cone 7 detected.

The distance sensors 2 . 3 . 4 . 5 and a middle rear distance sensor 13 Are with a safety device 14 of the motor vehicle, in which corresponding measured values are combined and analyzed. In addition, detection values of lateral sensors are detected in the safety device 15 . 16 processed for the detection of lane markings.

It also takes as input from a speed measuring device 17 (a tachometer) the value of the vehicle speed to the safety device 14 given.

In the in the 1 illustrated driving situation in which the vehicle 1 diagonally in front of the other vehicle 12 drives, is emitted by the safety device or the lane change warning device contained in it a warning signal to the driver or the steering activity influenced as soon as the driver to the left in front of the other vehicle 12 wants to break in.

A similar situation would exist if the vehicle 1 on the left lane, for example on a highway, would move in the direction of travel and right behind him the other vehicle 12 on the lane 8th as soon as the driver turns right in front of the other vehicle 12 wanted to break in. In this case, the other vehicle 12 in the detection cone 6 the rear right distance sensor 5 detected and the corresponding measurement data would be given to the lane change warning device.

In order to be able to give the driver an intention to guide the safety device as information, for example, a detection sensor 18 provided the activity of the turn signal of the vehicle 1 detected or an unillustrated sensor, the steering angle at the front wheels of the vehicle 1 measures.

Based on 2 the operation of the safety device should be described in more detail. In the lower part are the distance sensors 2 . 3 . 4 . 5 represented, wherein further distance sensors can be distributed on the vehicle. In particular, it comes for the lane change warning device on the rear sensors 4 . 5 at. Measurements from the other sensors can be used to verify that the vehicle being detected is now on the vehicle 1 passes by and is thus already removed from the danger area.

The data acquired by the proximity sensors is sent to the lane change warning device 19 given that part of the safety device 14 is. There, if the lane change warning device is in operation, detects whether another vehicle is obliquely behind the first vehicle 1 located. By means of Umschaltein direction 20 the lane change warning device can be switched on manually or automatically as soon as the vehicle 1 reaches a speed above a certain threshold, for example 50 km / h.

Below the speed threshold or below a certain other speed value, for example, 5 km / h, the switching device 20 cause the distance sensors to be used only for park assist and only the display 21 is used to represent the environment of the vehicle when parking or to give appropriate warnings when falling below a minimum distance.

However, it is the lane change warning device 19 in the appropriate operating mode, so will First, an information is prepared as to whether another vehicle is in the danger area behind the vehicle 1 is available.

This information is sent to an evaluation device 22 within the lane change warning device 19 given that monitors whether a steering intention in the direction of the detected further vehicle 12 exists or is developed.

For this purpose, the evaluation device 22 with means for detecting the intention to steer, for example a sensor 23 connected to the activity of the indicator device. Instead of this sensor, a sensor for detecting the steering angle of the front wheels can be provided.

If the lane change warning device on the one hand detects a vehicle in the danger zone and detects the off evaluation device 22 In addition, a steering intention, so on the one hand, a warning signal on the signal generator 24 , issued for example in the form of a warning sound or a display, on the other hand, by means of the device 25 Influence on the implementation of the steering intention to be taken, for example, by complicating the steering operation by switching off the steering booster or by creating a limit on the possible steering angle or a threshold in the steering movement, which must be overcome by the driver.

In addition to the statically measured distance values of the other vehicle 12 from the vehicle 1 Advantageously, an approach speed or removal speed of the two vehicles relative to each other is determined and taken into account. If, for example, the two vehicles move away from each other very quickly, the vehicle may collapse 1 in front of the other vehicle 12 more likely to be allowed than if the distance remains the same.

In order to distinguish the case of a steering intention for shearing in front of the other vehicle from the case of a steering movement to follow a curve of the roadway, there are other sensors 15 . 16 in the lateral area of the vehicle 1 provided that allow the distance of the vehicle 1 from the markings 9 . 10 to observe and also to detect curvature of the road. It can also be a camera for this purpose 26 be provided on the vehicle, which detects the track to the front, whereby curvatures of the road can be detected early.

Around Do not disturb the normal driving unnecessarily, are thresholds in the Detecting a steering intention provided that cause the lane change warning device becomes active only when a certain degree of steering becomes apparent, the above the normal corrections go straight ahead.

The Invention thus allows the safety standard to be increased Avoid collisions, with essentially the same sensors which are also used for A parking assistance system can be used so no or only little extra Hardware requirement arises.

It It is envisaged that the minimum distance values at which the Vehicle electronics reacts, for the operation as a parking aid system are set very low, in the range of a few 10 cm while these border distances for the Operation of the lane change warning device in the area significantly above 1 m are located.

In the flow chart of 3 the activity of the safety device of the vehicle is roughly described in four steps, which are cycled. step 1 involves determining minimum distances of objects in the area behind the first vehicle 1 through the rear distance sensors 4 . 5 , If there is a vehicle at a distance, for example, less than 10 m, this will be in the first step 27 detected.

At the second step 28 will determine if the two vehicles 1 . 12 to approach each other or to move away from each other. This is done by comparing the detected distance values at different short successive times.

In the third step 29 is detected whether a driver's intention to steer in the direction of further driving 12 shows. For this purpose, the corresponding sensors are queried.

If the presence of a steering intention is shown, the fourth step is 30 issued a warning or influence on the realization of the intention to steer.

The said steps can be cycled at intervals of milliseconds, as long as the switching device 20 is set at a corresponding speed so that the safety device is activated.

1

vehicle

2, 3

distance sensors at the front end

4, 5

distance sensors at the far end

6 7

detection cone the rear distance sensors

8th

roadway

9

center mark

10

edge marking

11

movement direction of the vehicle

12

additional vehicle

13

middle rear distance sensor

14

safety device

15 16

road markings

17

Speedometer / tachometer

18

detecting sensor

19

Lane change warning system

20

switchover

21

display

22

evaluation

23

flasher device

24

signaler

25

Facility for influencing the realization of the intention to steer

26

camera

27

first step

28

second step

29

third step

30

fourth step

Claims (14)

Safety device for a vehicle ( 1 ) with at least one distance sensor ( 4 . 5 ) at the rear end of the vehicle and with a lane change warning device ( 19 . 22 ), which has greater distance limits than a Einparkhilfseinrichtung and responsive as soon as there is a risk in a lane change to get close to another vehicle. Safety device for a vehicle according to claim 1, characterized in that the lane change warning device ( 19 . 22 ) is associated with means that detect a lane change intent of the driver. Safety device according to claim 2, characterized in that the means for detecting the lane change intent a sensor ( 18 ) for detecting the turn signal activity. Safety device according to at least one of claims 2 or 3, characterized in that the means for detecting the lane change intent included a sensor for detecting a steering intent. Safety device according to at least one of claims 2 to 4, characterized in that the means a sensor for Detection of a steering angle included. Safety device according to at least one of claims 2 to 5, characterized in that the means for detecting the lane change intent a sensor ( 15 . 16 ) for detecting lane markings. Safety device according to at least one of the preceding claims, characterized in that the lane change warning device with a sensor ( 17 ) is connected to detect the speed of the vehicle. Safety device according to at least one of the preceding claims, characterized in that the lane change warning device ( 19 . 22 ) a computing device for determining the relative speed of the vehicle ( 1 ) with respect to another moving vehicle ( 12 ) having. Method for operating a safety device for a vehicle, in particular a safety device according to at least one of the preceding claims, - in which the distance to a behind the vehicle ( 1 ) further vehicle ( 12 ) by means of a distance sensor ( 4 . 5 ) is determined, - in which a steering intention of the driver is detected and - in which falls below a certain distance limit and presence of a steering intention issued a warning signal or the implementation of the steering intention is affected. A method according to claim 9, characterized in that the warning signal is emitted only and the reaction of the intention to steer is only affected if the predicted vehicle trajectory of a predicted trajectory of another vehicle ( 12 ) so far that danger of collision exists. Method according to at least one of claims 9 or 10, characterized in that the implementation of the steering intention thereby is influenced, that the steering wheel is made to vibrate. Method according to at least one of claims 9 to 11, characterized in that the implementation of the steering intention thereby is influenced, that reduces the effect of the power steering becomes. Method according to at least one of claims 9 to 12, characterized in that the implementation of the steering intention thereby is influenced that the steering angle is limited. Method according to at least one of claims 9 to 13, characterized in that the implementation of the steering intention is influenced by the fact that a noticeable threshold is generated at the steering angle, overcome by the driver can be.