DE102006046697A1 - Method for immediate recognition of dangerous situations within road intersection, evaluates item data for every road user present in intersection, and predicts possible paths of movement of users based on item data - Google Patents

Method for immediate recognition of dangerous situations within road intersection, evaluates item data for every road user present in intersection, and predicts possible paths of movement of users based on item data

Info

Publication number
DE102006046697A1
DE102006046697A1 DE200610046697 DE102006046697A DE102006046697A1 DE 102006046697 A1 DE102006046697 A1 DE 102006046697A1 DE 200610046697 DE200610046697 DE 200610046697 DE 102006046697 A DE102006046697 A DE 102006046697A DE 102006046697 A1 DE102006046697 A1 DE 102006046697A1
Authority
DE
Germany
Prior art keywords
data
intersection
characterized
road users
vehicle
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Withdrawn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
DE200610046697
Other languages
German (de)
Inventor
Paul Dr. Mathias
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.)
Siemens AG
Original Assignee
Siemens 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 Siemens AG filed Critical Siemens AG
Priority to DE200610046697 priority Critical patent/DE102006046697A1/en
Publication of DE102006046697A1 publication Critical patent/DE102006046697A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/164Centralised systems, e.g. external to vehicles

Abstract

Item data, including speed and acceleration data, for all road users, such as vehicles (FZ1,FZ2), pedestrians (F), and cyclists, are acquired and evaluated. Possible paths of movement (I,II) of the road users are predicted based on the item data. If collision between same or different road users based on the predicted paths of movement is determined, countermeasures are taken to warn the users of possible collision. Independent claims are included for the following: (1) a device for immediate recognition of dangerous situations within a road intersection; and (2) a vehicle with a radio communication device.

Description

  • The The invention relates to a method for early detection of dangerous Situations in the intersection of roads and a device for execution of the procedure and a vehicle for this purpose.
  • It is well known to increase traffic safety so-called Floating car data (FCD) and / or extended floating car data (XFCD) for To provide vehicles. For this purpose, the vehicle has a navigation system, a radio communication system and a terminal. The terminal can data Send to an FCD center and incoming data from the FCD center process and use this device on a display on the dashboard output. The FCD center is usually a telematics provider. The FCD control panel receives also from other FCD road users as well as from stationary sensors Data and process it with the help of a digital map for the individual FCD participant. The FCD headquarters now sees difficulties or an upcoming obstacle for a vehicle, then sends the FCD headquarters via radio warning signals to the individual FCD participants.
  • In An extension of this procedure (XFCD) can also be updated vehicle data the FCD participant is involved and sent to the central office become. For example, you can the current vehicle data of individual FCD participants on a black ice situation so that after evaluation by the headquarters other FCD participants accordingly can be warned.
  • In spite of of these measures a further increase in traffic safety is desirable. It has turned out to be in urban areas in Germany 35% of all accidents occur at intersections, with the proportion of all urban accidents in the total accident occurrence about 60%. Driving in the city requires of the road users a special level Attention and concentration, because the routes include usually a variety of complex signalized intersections, the common have a heavy traffic load. Besides, share in these Intersection areas different user classes (driver, pedestrian, cyclist) the road infrastructure and must consideration take each other. The amount of information a driver has has to process and interpret, is at times enormous. The Main cause for accidents in the area of urban intersections are drivers who perform inappropriate maneuvers, the reactions of others Misjudge driver or non-motorized road user, or street signs or traffic light signaling overlooked or even disregard.
  • task The invention is a method for early detection of dangerous Indicate situations in the intersection of roads that serve to warn the road users concerned as soon as possible Danger of conflicts or collisions is given. Furthermore It is an object of the invention to provide a corresponding device for execution of the method. Furthermore, to specify a vehicle which with the help of the procedure his driver in the traffic supports and dangerous Situations warns.
  • The The object is achieved by the method having the features of the claim 1 solved or with a device according to claim 13. Further, the object of a vehicle supported by the method according to claim 15 solved.
  • According to the invention is a Procedure for early Detecting dangerous Situations specified in the intersection of roads where position data the one at the intersection or at the intersection Road users are summarized, the position data evaluated and a forecast of the expected movement lines of road users is created. The forecast then determines whether conflicts or Collisions between the road users threaten, whereupon the Prevention of conflicts or collisions Countermeasures, in particular warning the affected road users, initiated become.
  • In order to Is it possible, the road users, in particular the drivers of vehicles, timely with additional Information about to go beyond their perceptual horizon. Hazardous Situations before so early can be warned in certain circumstances their effects are mitigated or even completely avoided, making a vital contribution to improving traffic safety is done.
  • In Embodiment of the method are in the position data speed data and / or acceleration data of road users involved. This makes it possible any braking or acceleration in the process to take into account to create an improved forecast for road users to be able to. In particular, there is an improvement in the prognosis when the Position data of road users are permanently determined and processed.
  • In a further embodiment of the method the interacting road users are specified, namely that they can be vehicles, pedestrians or cyclists.
  • In Further embodiment of the method can in a light-signaling Crossing also other data, the localization of pedestrians or Serve cyclists, considered as input data in the process become.
  • In Further embodiment of the method is indicated that in vehicles based on the position data, a lane of the vehicle in the intersection is determined, taking into account turning relationships for the vehicle If available, additional data of the vehicle are evaluated become. For pedestrians or Cycling will be the pedestrian or Radfahrfurten statically predetermined and there will be a corresponding line of movement assigned. Subsequently be for Each road user determines their own trajectories. After that will be Determines points of intersection of the trajectories that represent possible points of conflict. at Presence of possible Points of conflict become countermeasures to avoid conflicts or collisions, especially warning the road users concerned.
  • In Further embodiment of the method has to improve of the procedure emphasized that conflict points intersections are the trajectories that are essentially simultaneous or both present within a given time difference.
  • In Further embodiment of the method has to improve of the procedure, the calculation of the conflict points considering potential To perform braking or acceleration actions of road users.
  • In Further embodiment of the method has to improve of the method, the intersections of the trajectories only as conflict points if the speed and / or braking possibilities the vehicles suggest the occurrence of a dangerous situation, after which a recalculation of the trajectories takes place, which one Reaction to this situation in the form of maximum braking, and only in the case of a due to the recalculation of trajectories resulting point of intersection a conflict point is identified, which then to initiate countermeasures is used.
  • In Further embodiment of the method has to improve of the method, in vehicles based on the position data a Lane of the vehicle to be determined in the intersection, with turn-off relationships for the Vehicle considered in particular additional Data of the vehicle to be evaluated, namely data of a calculated Route of a car navigation system and / or data resulting from an activated turn signal of the vehicle.
  • In Further embodiment of the method is the position data determination Based on existing vehicle data of a FCD (floating car data) system or an XFCD (extended floating car data) system.
  • In Another embodiment of the method is used to evaluate the position data and to generate the forecast of the expected movement lines the road user a device in the form of an electronic Data processing device provided.
  • to execution The method proposes a device for evaluation the position data and to create the forecast of the expected Movement lines of road users in the form of an electronic Data processing device is formed and by the road users receives submitted data, evaluates and then the affected road users to disposal provides. Advantageously, this device is in the field of Intersection positioned.
  • Of In addition, a vehicle is indicated, which, with the help of Procedure supports his driver in the traffic and dangerous Situations warns. The vehicle is for this purpose with a radio communication device, a location and a terminal equipped to interact with the device for carrying out the Method is provided and by means of the terminal corresponding warning signals can spend.
  • Further Advantages and advantageous embodiments of the invention result from the dependent claims and the description.
  • One embodiment The invention is explained in more detail in the following description and based the drawing further clarified.
  • It demonstrate:
  • 1 an example of an intersection, wherein all possible driving relationships or driving lines are drawn from to- and exits and
  • 2 an example of three driving lines of traffic (trajectories) of road users at a crossroads with traffic lights.
  • The Invention specifies a method based on permanently incoming Position and speed data of vehicles in a crossing area of roads, first detailed the driving lines (movement trajectories) of the road users reconstructed or predicted to predict after their analysis, whether a dangerous Situation for the road users can result. In a further step should at predicted dangerous Situation then a countermeasure in the form of a warning to the road user (s) concerned done to make the dangerous Safe situation to be able to avert.
  • requirement to carry out of the procedure are vehicles, in particular motor vehicles, which can determine their position with high accuracy. This For example, with the aid of a vehicle location system provided in the vehicle GPS (Global Positioning System) or the upcoming European system for satellite navigation with the name Galileo. In addition, the Vehicles over a separate radio communication unit or radio communication device and for processing the data via a terminal feature. This radio communication device is intended to be on the roadside Infrastructure can exchange data. The roadside Infrastructure consists of a device, in particular in the form of an electronic data processing device, the Furthermore equipped with radio and receiver and is preferably on urban intersections is to be provided. In addition, the device becomes succinct as crossing device designated.
  • It is provided that the vehicles in the crossing area of a road junction cyclically and at short intervals their position and speed data and, if necessary, additional ones Information of the vehicle, such as turn signal "on / off" or route information of a present car navigation system, transmitted to the intersection device.
  • The inventive method should preferably run in the intersection device and this from the process data transmitted to vehicles in the intersection area. In the case of light-signalised intersections, further data, the localization of pedestrians or Serve cyclists, considered as input data in the process or in the intersection device become. Such data can For example, from special street side installed pedestrian or Radfahrerdetectors come from so-called buttons, with which Pedestrian or Cyclists at signaled intersections their green signal at the traffic lights Request. The method is based on merging, so-called Matching, the determined driving movement of the vehicles on the present static driving relations of the intersection.
  • These static driving relationships depend on the topology or geometry of the intersection. Each intersection has a finite number of possible driving relationships from the lanes of the access roads to the lanes of the exits. These static driving relationships or resulting driving lines of the individual road users are initially determined offline for the intersection to be considered quasi and made available to the intersection device in an adequate data technology form or deposited programmatically. An example of an intersection shows the 1 , In 1 all possible driving relations or driving lines from in and out are marked. For example, the driving direction for the lane S1 is the driving line S1a (right turn) and the driving line S1b (straight ahead). For the middle lane S2 only the line S2a (left turn). For the lane S3, the driving line S3a (turning left) and the driving line S3b (straight ahead), etc. For the unmentioned, remaining remaining lanes, of course, corresponding driving lines or driving relationships are valid. Once the intersection with its driving relationships has been determined, the previously mentioned matching of the determined driving movement of the vehicles to the static driving relationships of the intersection is carried out in a quasi-online part of the method. There is thus a modeling of the movement trajectories of the road users.
  • In A first step of the procedure must be for each approaching vehicle It is determined to which driving relationship it belongs, so whether it continues straight ahead or turn left or right. On the basis of the run in Position data for every vehicle will be first the lane in the driveway determines on which the vehicle is approaching the intersection. After that have to possibly the turn-off relationships of the vehicles are determined, provided several are present by additional Data transmitted from the vehicle and evaluated. This data can be from the current route an active navigation device or data of an activated turn signal be, for example, the emitted from the vehicle turn signal. If this information is missing, it will be evaluated alternatively the previous driving course closed on a turn circle. If this is not clearly possible is, will be first a straight ahead driving accepted.
  • In a second step of the method, the movement lines of the detected pedestrians or cyclists in the crossing area are determined and involved. These are simply the lines of movement that are statically predetermined by the pedestrian or cyclist furrows. If a pedestrian or cyclist is detected, or if a pedestrian or cyclist registers by pressing a button, the corresponding movement line is assigned to the ford. Fords are understood as the given path.
  • In In a third step, the trajectories of the trajectories are determined Motor vehicles along the specific driving relationship. Under trajectory is the expected path or the trajectory or space curve of the Vehicle understood. Based on the transmitted from the vehicles Position data, as well as the current speeds and accelerations, the driving line of each vehicle is assigned a time scale. So it will be for Each vehicle determines its own trajectory. The forecast part the trajectory is estimated by the current speed and acceleration, as well as possibly the derivative of the acceleration is used. Also can here the maximum speed of a turn, for example, in the case of a Right or left turn are considered.
  • The 2 shows an example of three trajectories of road users at an intersection. For example, two vehicles FZ1 and FZ2 and a pedestrian F are shown. The vehicle FZ1 is at the current point in time t akt at the marked point. For the future, the following applies: at time t akt + 1 at location a, at later time t akt + 2 at location b etc. In the past t akt - 1 at location c, further in the past t akt - 2 at location d, etc The dashed line I from t akt - 2 to the vehicle FZ2 thus shows the proportion of movement to the present. The dashed line II (left-turn lane) the predicted motion component t akt + 1, t akt + 2, etc. The same applies to the oncoming vehicle FZ2.
  • In a fourth step, the trajectories of pedestrians or cyclists are determined in the intersection area. This is done by adopting a uniform movement along the line of movement in the ford from the time of detection or the push button operation. So is located in 2 the pedestrian F in the presence at the time t akt at the marked point. The distance covered up to the point t akt thus represents the amount of movement I covered and the further point t akt + 1 the predicted proportion of movement II.
  • In a fifth step, the calculation of conflict points takes into account possible braking or acceleration actions of the vehicles. Possible points of conflict are now the intersections of trajectories that are about the same time, that is, lie for both lines within a given time difference. In addition, the intersection of a trajectory with a stop line with simultaneous RED signal of a traffic light system 2 as a point of conflict, no matter at what point in the trajectory.
  • points of conflict but are only relevant if the speed and braking options Vehicles suspect the occurrence of a dangerous situation to let. This means, that in case of a possible Conflict point for the participating road users continue to calculate new trajectories Need to become, which involve the reaction to the situation in the form of maximum braking. If these new trajectories then also possible conflict points show a point of conflict again.
  • In a last step the identified conflict points the affected road user in a suitable form, for example by the terminal in the vehicle delivered, visual or audible warning signals become. this makes possible then a corresponding reaction of the road users, for example by braking, steering or avoiding, so the dangerous Avert situation.

Claims (15)

  1. Method for the early detection of dangerous situations in the intersection of roads, characterized in that - position data of the traffic participants located in the intersection or at the intersection are detected, - that the position data are evaluated and a prediction of the expected movement lines of the road users is created - That is determined on the basis of the prognosis, whether conflicts or collisions between the road users threaten, - whereupon to prevent the conflicts or collisions countermeasures, in particular warning of the affected road users, initiated.
  2. Method according to claim 1, characterized in that that in the position data speed data and / or acceleration data the road users are involved.
  3. Method according to claim 1, characterized in that that the position data of the road users permanently determined and processed.
  4. A method according to claim 1, characterized in that it is in the road users vehicles or pedestrians or cyclists.
  5. Method according to claim 4, characterized in that that at a light-signalised intersection also other data, the localization of pedestrians or Serve cyclists, considered as input data in the process become.
  6. Method according to one of the preceding claims 1 to 5, characterized in that - based on vehicles the position data is determined one lane of the vehicle in the intersection, with turn-off relationships for the vehicle considered If available, additional data of the vehicle be evaluated, - that with pedestrians or Cycling, the pedestrian or Radfahrfurten statically be given and a corresponding Movement line is assigned, - that for every road user own trajectories are determined - that intersections of the trajectories be determined, the possible Represent conflict points, - that in the presence of conflict points countermeasures to avoid conflicts or collisions, especially warning the road user concerned.
  7. Method according to Claim 6, characterized that conflict points are intersections of the trajectories that are in the Essentially, or both are within a given time Time difference present.
  8. Method according to Claim 6, characterized that the calculation of the conflict points taking into account possible Braking or acceleration actions of road users is performed.
  9. Method according to one of claims 6 to 8, characterized that the intersections of trajectories only as points of conflict be considered if the speed and / or braking capabilities Vehicles suspect the occurrence of a dangerous situation after which a recalculation of the trajectories takes place, which the Contain response to this situation in the form of maximum braking, and only in the case of one resulting from the recalculation of the trajectories Intersection a conflict point is expelled, which then to initiate countermeasures is used.
  10. Method according to one of claims 6 to 9, characterized that on vehicles based on the position data a lane of the Vehicle in the intersection is determined, with turn-off relationships for the Vehicle considered in particular additional Data of the vehicle to be evaluated, namely data of a calculated Route of a car navigation system and / or data resulting from an activated turn signal of the vehicle.
  11. Method according to one of the preceding claims 1 to 10, characterized in that the position data determination on Basis of existing vehicle data of a FCD (floating car data) system or an XFCD (extended floating car data) system is performed.
  12. Method according to one of the preceding claims 1 to 11, characterized in that for evaluating the position data and for generating the prediction of the expected movement lines of the road users a device in the form of an electronic data processing device ( 1 ) is provided.
  13. Device for carrying out the method according to one of the preceding claims 1 to 12, characterized in that the device ( 1 ) is provided for evaluating the position data and for generating the prediction of the expected movement lines of the road users and receives from the road users submitted data, evaluates and then provides the affected road users available.
  14. Device according to claim 13, characterized in that the device ( 1 ) is positioned in the area of the intersection.
  15. Vehicle equipped with a radio communication device, a location determination device and a terminal device for interacting with the device ( 1 ) is provided for carrying out the method according to claim 13 and can output corresponding warning signals by means of the terminal.
DE200610046697 2006-10-02 2006-10-02 Method for immediate recognition of dangerous situations within road intersection, evaluates item data for every road user present in intersection, and predicts possible paths of movement of users based on item data Withdrawn DE102006046697A1 (en)

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Cited By (15)

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DE102008030550A1 (en) 2008-06-27 2010-01-07 Siemens Aktiengesellschaft Method for warning road user e.g. pedestrian, from conflict situations in area of junction of urban road system, involves displaying warning information by road-lateral detection device if conflict situation is detected
ITMO20090211A1 (en) * 2009-08-07 2011-02-08 Zetech S R L System for the exit of vehicles from driveways facing in footpaths / cycle
DE102010051203A1 (en) * 2010-11-12 2012-05-16 Lucas Automotive Gmbh Method for detecting critical driving situations of trucks or passenger cars, in particular for avoiding collisions
US8401758B2 (en) 2007-12-13 2013-03-19 Continental Teves Ag & Co. Ohg Method and device for assisting a vehicle operator
DE102011122297A1 (en) 2011-12-23 2013-06-27 Daimler Ag Method for generating and using traffic-relevant information by vehicles of a vehicle pool
DE102009042437B4 (en) * 2008-10-24 2013-07-25 Mitsubishi Electric Corp. Information providing device and information providing method
DE102013008946A1 (en) * 2013-05-27 2014-11-27 Volkswagen Aktiengesellschaft Device and method for detecting a critical driving situation of a vehicle
EP2814014A1 (en) * 2013-06-13 2014-12-17 Audi Ag Method for coordinating the operation of motor vehicles
US8977428B2 (en) 2009-03-06 2015-03-10 Toyota Jidosha Kabushiki Kaisha Vehicle drive support device
DE102014008746A1 (en) * 2014-06-12 2015-12-17 Audi Ag Method of driver assistance and associated infrastructure
DE102014008897A1 (en) * 2014-06-14 2015-12-17 Audi Ag Method for determining an expected time for a collision between a first motor vehicle and a second motor vehicle and associated motor vehicle
DE102015217891A1 (en) * 2015-09-17 2017-03-23 Volkswagen Aktiengesellschaft Determining a desired trajectory for a vehicle
DE102016220102A1 (en) * 2016-10-14 2018-04-19 Audi Ag Procedure for traffic guidance
DE102017206862A1 (en) 2017-04-24 2018-10-25 Bayerische Motoren Werke Aktiengesellschaft Selecting a course of action concerning the longitudinal guidance of a motor vehicle with at least automated longitudinal guidance
DE102009027496B4 (en) * 2009-07-07 2019-10-10 Robert Bosch Gmbh Method and control unit for detecting an impending side collision

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US8401758B2 (en) 2007-12-13 2013-03-19 Continental Teves Ag & Co. Ohg Method and device for assisting a vehicle operator
DE102008030550A1 (en) 2008-06-27 2010-01-07 Siemens Aktiengesellschaft Method for warning road user e.g. pedestrian, from conflict situations in area of junction of urban road system, involves displaying warning information by road-lateral detection device if conflict situation is detected
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DE102013008946A1 (en) * 2013-05-27 2014-11-27 Volkswagen Aktiengesellschaft Device and method for detecting a critical driving situation of a vehicle
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US9715829B2 (en) 2013-06-13 2017-07-25 Audi Ag Method for coordinating the operation of motor vehicles
EP2814014A1 (en) * 2013-06-13 2014-12-17 Audi Ag Method for coordinating the operation of motor vehicles
DE102014008746A1 (en) * 2014-06-12 2015-12-17 Audi Ag Method of driver assistance and associated infrastructure
DE102014008897A1 (en) * 2014-06-14 2015-12-17 Audi Ag Method for determining an expected time for a collision between a first motor vehicle and a second motor vehicle and associated motor vehicle
DE102015217891A1 (en) * 2015-09-17 2017-03-23 Volkswagen Aktiengesellschaft Determining a desired trajectory for a vehicle
DE102016220102A1 (en) * 2016-10-14 2018-04-19 Audi Ag Procedure for traffic guidance
DE102017206862A1 (en) 2017-04-24 2018-10-25 Bayerische Motoren Werke Aktiengesellschaft Selecting a course of action concerning the longitudinal guidance of a motor vehicle with at least automated longitudinal guidance

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