DE102007049516A1 - Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor - Google Patents
Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor Download PDFInfo
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- DE102007049516A1 DE102007049516A1 DE102007049516A DE102007049516A DE102007049516A1 DE 102007049516 A1 DE102007049516 A1 DE 102007049516A1 DE 102007049516 A DE102007049516 A DE 102007049516A DE 102007049516 A DE102007049516 A DE 102007049516A DE 102007049516 A1 DE102007049516 A1 DE 102007049516A1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
Abstract
Description
Die Erfindung betrifft das Gebiet der multimodalen Objekterkennung anhand eines Umfeldmodells im Straßenverkehr und betrifft insbesondere ein System mit den Merkmalen des Oberbegriffs des Anspruchs 1.The The invention relates to the field of multimodal object recognition an environment model in road traffic and more particularly relates to a system having the features of the preamble of claim 1.
Systeme zur Vermeidung oder Milderung unfallbedingter Verletzungen wurden bislang im Wesentlichen getrennt und unabhängig von den Systemen entwickelt, die der Vermeidung von Unfällen dienen. Passive und aktive Sicherheit eines Fahrzeugs wurden voneinander unabhängig betrachtet.systems to avoid or mitigate accidental injury so far essentially developed separately and independently of the systems, the avoidance of accidents serve. Passive and active safety of a vehicle were different from each other independently considered.
Heute setzt sowohl die aktive als auch die passive Sicherheit auf elektronische Systeme wie das elektronische Stabilitätsprogramm (ESP), die Adaptive Cruise Control (ACC), Gurtstraffer und Airbags. Deren Potenzial ist allerdings erst dann vollständig nutzbar, wenn Informationen über den Fahrzustand, das Fahrzeugumfeld und den Fahrer selbst allen Subsystemen zur Verfügung stehen.today puts both active and passive security on electronic Systems like the Electronic Stability Program (ESP), the Adaptive Cruise Control (ACC), belt tensioners and airbags. Their potential is only then complete usable if information about the driving condition, the vehicle environment and the driver himself all Subsystems available stand.
Der Effekt dieser Vernetzung führt zu einem verkürzten Anhalteweg (Reduced Stopping Distance, RSD). Im so genannten 30-Meter-Auto werden die Einzelsysteme der aktiven Sicherheit – Reifen, Fahrwerk und Bremse- zu einem optimierten Gesamtsystem verbunden. Dieses Gesamtsystem verkürzt nicht nur den Bremsweg auf 30 Meter, sondern auch den Anhalteweg – zusätzlich mit den Bestandteilen Reaktions- und Schwellweg signifikant.Of the Effect of this networking leads to a shortened Stopping distance (RSD). In the so-called 30-meter car will be the individual systems of active safety - tires, chassis and brakes - connected to an optimized overall system. This overall system shortened not only the braking distance to 30 meters, but also the stopping distance - in addition to the components reaction and Schwellweg significantly.
Eine Verkürzung des Schwellwegs, der vom Zeitpunkt des ersten Bremspedalkontakts bis zum vollen Aufbau der Bremsleistung zurückgelegt wurde, brachte die elektrohydraulische Bremse (EHB) in Kombination mit einem Bremsassistenten (BA). Die EHB zeichnet sich durch einen besonders schnellen Druckaufbau aus.A shortening the Schwellwegs, the time of the first brake pedal contact was completed until the full build up of braking power, brought the Electrohydraulic brake (EHB) in combination with a brake assistant (BA). The EHB is characterized by a particularly fast pressure build-up out.
Zur Verkürzung der Reaktionszeit wurde das Fahrzeuge in einem nächsten Schritt mit einem Bugradar ausgerüstet, das Abstand und Relativgeschwindigkeit zum voraus fahrenden Fahrzeug misst. Deuten diese auf eine Notsituation, leitet die aktivierte Adaptive Cruise Control (ACC) eine Fremdbremsung bis zum gesetzlichen Limit von 0,2 bis 0,3 g ein und fordert den Fahrer durch ein Signal zur Übernahme des Bremsvorgangs auf, falls diese Fremdbremsung nicht ausreicht. Übernimmt der Fahrer die Bremsaktivitäten, unterstützt ihn der erweiterte Bremsassistent (BA+), der die Umfeldinformationen mit dem Bremsbetätigungssignal des Fahrers vernetzt.to shortening The reaction time was the vehicles in a next step with a bug radar equipped, the distance and relative speed to the vehicle ahead measures. Interpret this to an emergency situation, directs the activated Adaptive Cruise Control (ACC) a third-party braking to the statutory Limit of 0.2 to 0.3 g and asks the driver by a signal for takeover the braking process, if this foreign braking is insufficient. Takes over the driver's braking activities, supports him the advanced Brake Assist (BA +), the environment information with the brake actuation signal networked by the driver.
Diese Vernetzung von Abstands- und Bremsinformationen wirkt auch bei ausgeschaltetem ACC. Dieser erste Schritt der Vernetzung deckt schon einen großen Teil der Unfälle ab, bei denen sich das Fahrzeug zuvor in einer kritischen fahrdynamischen Situation befunden hatte.These Networking of distance and braking information is also effective when switched off ACC. This first step of networking already covers a large part the accidents from where the vehicle previously in a critical driving dynamics situation had found.
Die
Die
Aus
der
Bekannt sind Verfahren und Systeme, die auf einem Strahlsensor basierend, den der Fahrer in einer Gefahrensituation beim Einleiten einer Bremsung unterstützt, indem beim Loslassen des Gaspedals die Bremsanlage vorfüllen wird (Prefill), während der Zeit, in der der Fahrer keines der Pedale berührt eine leicht Verzögerung von bis zu 0,3 g eingeleiten (Prebrake) wird, und bei einer Betätigung der Bremse durch den Fahrer der Bremsassistent aufgrund niedrigerer Schwellwerte früher eingreift.Are known methods and systems based on a beam sensor, which supports the driver in a dangerous situation when initiating a braking, by releasing the accelerator pedal the brake system will prefill, during the time in which the driver touches any of the pedals a slight deceleration of up to 0.3 g is introduced (Prebrake), and when the brake is pressed by the driver the Brake Assist due to lower thresholds intervenes earlier.
Trotz
der sehr hohen Leistungsfähigkeit
der Systeme, ergeben sich systembedingte anwendungsspezifische Beschränkungen:
Stehende
Fahrzeuge oder Gegenstände
werden von den Strahlsensoren nicht erkannt. Hierdurch erfolgt nur
eine Klassifizierung bezüglich
der Strahlsensoreigenschaften des Objektes, jedoch nicht um welchen Gegenstand
es sich tatsächlich
handelt, und ob es sich überhaupt
um einen Gegenstand auf der Straße, daneben, darunter oder
darüber
handelt. Aus dieser Situationsanalyse kann aufgrund der hohen Unsicherheit
keine starken autonomen Bremsungen eingeleitet werden. Des Weiteren
wird die Reichweite des Sensors ständig durch Fahrzeuge oder Gegenstände in der
Umgebung begrenzt und der Reibwert, der für die Eingriffs und Warnstrategie
von bedeutender Wichtigkeit ist, ist nicht von vornherein bekannt.Despite the very high performance of the systems, there are system-specific application-specific restrictions:
Standing vehicles or objects are not recognized by the beam sensors. As a result, only a classification with respect to the beam sensor properties of the object, but does not concern which object it is actually, and whether it is at all an object on the road, next to, below or above. Due to the high uncertainty, no strong autonomous braking can be initiated from this situation analysis. Furthermore, the range of the sensor is constantly limited by vehicles or objects in the environment and the coefficient of friction, which is of significant importance for the intervention and warning strategy, is not known in advance.
Der Erfindung liegt die Aufgabe zu zugrunde, ein einfaches, robustes System zur Unterscheidung von Objekten im Umfeld eines Fahrzeugs zur Verfügung zu stellen, um hierauf aufbauend zuverlässige Bremsstrategien abzuleiten.Of the Invention is the object of a simple, robust System for distinguishing objects in the environment of a vehicle to disposal in order to derive reliable braking strategies based thereon.
Diese Aufgabe wird erfindungsgemäß durch ein System mit den Merkmalen des Anspruchs 1 gelöst.These The object is achieved by a System solved with the features of claim 1.
Die
Aufgabe wird gelöst
durch ein System zur multimodalen Bestimmung von Objekten in einem
vor und/oder hinter einem Fahrzeug liegenden Blickfeld, wobei mittels
eines ersten Sensors
In
einer vorteilhaften Ausgestaltung wir als erster Sensor
Eine
besonders vorteilhafte Ausgestaltung des Systems wird dadurch gestaltet,
das der erste Sensor
Besonders vorteilhaft ist, dass das System den Datenfluss zwischen den beiden Sensoren durch die Vorauswahl von relevanten Objekten im Radar minimiert. Durch die geringere zu bewertenden Datenmenge wird die Rechchengeschwindigkeit zur Bestimmung von relevanten Objekten erheblich erhöht.Especially It is advantageous that the system controls the flow of data between the two Minimize sensors by preselecting relevant objects in the radar. Due to the lower amount of data to be evaluated, the computational speed becomes considerably increased for the determination of relevant objects.
In einer besonders vorteilhaften Ausgestaltung der Erfindung erfolgt eine Anpassung der Erfassungsbereiche von Videokamera und Radar, wobei der ermittelte gemeinsame Erfassungbereich, der abzubildend und von Relevanz ist und von den Sensoren gemeinsam überwacht wird.In a particularly advantageous embodiment of the invention takes place an adaptation of the detection areas of video camera and radar, wherein the determined common detection area to be imaged and of relevance and monitored by the sensors together becomes.
In
einer weiteren Ausgestaltung wird erfolgt die Durchführung einer
Bremsstrategie mit mindestens 0,3 g mit einer Erhöhung der
Verzögerung
kurz vor dem Stillstand über
die Sicherheitssysteme
Diese Lösung hat den Vorteil, dass es sich bei der Erfindung um eine Zielbestätigung handelt, da die ermittelten Daten aus der Umfelderkennung überprüft, verifiziert und bestätigt werden, um die Sensoren gegenseitig zu ergänzen, wodurch die Datenübertragung zwischen den Sensoren einfach zu realisieren ist und keine hohen systemtechnischen Anforderungen gestellt werden müssen.These solution has the advantage that the invention is a destination confirmation, since the determined data from the environment identifier checked, verified and confirmed be to complement each other's sensors, reducing data transmission between the sensors is easy to implement and no high system technical requirements must be made.
Weitere vorteilhafte Ausgestaltungen sind in den Unteransprüchen angegeben.Further advantageous embodiments are specified in the subclaims.
Bei der Erfindung handelt es sich um eine Zielbestätigung, da die ermittelten Daten aus der Umfelderkennung überprüft, verifiziert und bestätigt werden, um die Sensoren gegenseitig zu ergänzen, wobei die Datenübertragung bzw. Datenaustausch zwischen den Sensoren einfach zu realisieren ist und keine komplexen systemtechnischen Anforderungen zu erfüllen sind.at the invention is a destination confirmation, since the determined Data from the environment detection verified, verified and confirmed be to complement each other's sensors, allowing data transmission or easy to implement data exchange between the sensors and no complex system-technical requirements have to be met.
In einer vorteilhaften Ausgestaltung der Erfindung wird die Fahrbahnmarkierungen für eine verbesserte Situationsanalyse herangezogen.In An advantageous embodiment of the invention is the road markings for one improved situation analysis.
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen dargestellt und wird im folgenden näher beschrieben.An embodiment of the invention is in the drawings and will be described in more detail below.
Es zeigenIt demonstrate
Das
Grundprinzip der Erfindung liegt, wie in
Durch
den Einsatz einer Radar-Nahbereichssensorik (24-GHz-Radar)
Besonders vorteilhaft bei dem System ist, dass je größer ein Gegenstand ist, desto höher liegt die Wahrscheinlichkeit, dass es als Fahrzeug erkannt wird. Wird der Schwellwert sehr niedrig angesetzt, würde die Kamera Ziele in der Größe eines mittleren Kartons bestätigen. Zusätzlich steigt die Erkennungswahrscheinlichkeit des Radars mit dem Eisengehalt eines Objek tes. Das heißt je größer und metallhaltiger ein Objekt ist, desto wahrscheinlicher ergibt sich ein autonomer Bremseneingriff, was dann dem Sachverhalt entspricht, dass es sich auch um eine potentiell gefährliche Situation handeln kann.Especially The advantage of the system is that the larger an item is, the better higher is the Probability that it is recognized as a vehicle. Will the Threshold set very low, the camera would be targets in the Size of one middle boxes confirm. additionally the detection probability of the radar increases with the iron content of an object. This means the bigger and bigger the more metalliferous an object is, the more likely it will be an autonomous brake intervention, which then corresponds to the facts, that it can also be a potentially dangerous situation.
Das
System wird vollständig
in einem Fahrzeug
Durch
die Objektdetektion bzw. Objektbildung werden aus den Daten der
Sensorerfassung konkrete Objekte gebildet. Beim Radar
Die
Objektzuordnung betrifft sowohl die Identifikation desselben Objektes
in unterschiedlichen Sensordaten als auch die Objekttracking
Die
Situationsanalyse
Die
gesamte verfügbare
Information über
die aktuelle Situation wird in einer Objektbestätigung und Situationsanalyse
Diese
Redundanz und Komplementarität trägt maßgebend
zur Robustheit und Zuverlässigkeit der
multisensoriellen Umgebungserfassung bei, da zwei Module zur Objekdetektion,
Objektracking und zur Situationsanalyse
Je
nach Einstufung des Objektes erfolgt eine Aktivierung des Sicherheitssystem
Parallel
werden wie bereits erwähnt
zusätzlich
Objekte erkannt, die nicht mit einem Radarsensor
Basierend auf dem zuverlässigeren Situationsanalyse und deren Ergebnis ist es möglich wesentlich stärker als bisher in das Fahrverhalten des Fahrzeuges einzugreifen. Der bisher realisierte Bremseneingriff wurde aufgrund des unzureichenden Umfeldmodells freiwillig auf 0,3 g begrenzt. Diese Begrenzung kann wegfallen oder zumindest nach oben verschoben werden. Vorteilhaft und sinnvoll erscheint zunächst eine Bremsung mit 0,6 g, da der Bereich über 0,4 g vom Fahrer als Gefahr wahrgenommen wird. Zusätzlich ist das System dann auch bei Regennasser Fahrbahn (mu = 0,7) funktionsfähig. Bei höheren Verzögerungen könnte dann der Fahrer mit dem Fuß wieder ins Gaspedal fallen könnten, und somit den Eingriff abrechen würden.Based on the more reliable Situation analysis and its result, it is possible much stronger than previously intervene in the handling of the vehicle. The so far realized brake intervention was due to the inadequate environmental model voluntarily limited to 0.3 g. This limitation can be omitted or at least move up. Advantageous and useful appears first a braking at 0.6 g, as the range above 0.4 g from the driver as a hazard is perceived. additionally the system is then also functional in rain wet roadway (mu = 0.7). at higher delays could then the driver with his foot again could fall into the gas pedal, and thus cancel the engagement.
Darüber hinaus
kann der Gefahrenrechner
Vorteilhaft
vorgesehen sind optische und/oder haptische Warn- und/oder Führungshinweise bzw. Handlungsanweisungen
zum Warnen
Die Führungshinweise werden mittels einer veränderten Bedienkraft an mindestens einem Pedal und/oder der Lenkhandhabe gegeben, so dass der Fahrer über die zu- oder abnehmende Bedienkraft zu situationsgerechter Fahrzeugführung veranlasst wird.The Procedural instructions are changed by means of an Operating force on at least one pedal and / or the steering handle given so that the driver over the increasing or decreasing operating force is prompted to situation-appropriate vehicle guidance.
Die
Funktionen des Gefahrenrechners
Mittels
des Gefahrenrechners
Die passiven und aktiven Sicherheitssysteme werden lediglich aufgrund von Schwellenwertabfragen der Gefahrenpotentiale angesteuert. Dabei können mehrere Gefahrenpotentiale kombiniert werden, um einen passiven und aktiven Sicherheitssysteme zu aktivieren. Dies bedeutet, dass die Zustandsbewertung zunächst nicht die Auswahl bzw. die Betätigungsdosierung der passiven und aktiven Sicherheitssysteme beinhaltet. Dabei wird eine bestimmte Situation durch mehrere Gefahrenpotentiale bewertet. Dies lässt eine umfangreichere Bewertung der Situation zu. Es gibt Gefahrenpotentiale, die unabhängig von den passiven und aktiven Sicherheitssystemen die Situation bewerten. So kann es beispielsweise ein Gefahrenpotential geben, das den längsdynamischen Fahrzustand bewertet. Entsprechend gibt es ein allgemeingültiges Gefahrenpotential, das den querdynamischen Fahrzustand beschreibt. Im Gegensatz zu diesen allgemeingültigen Gefahrenpotentialen gibt es auf bestimmte passiven und aktiven Sicherheitssysteme zugeschnittene spezielle Gefahrenpotentiale. Diese Gefahrenpotentiale tragen der Tatsache Rechnung, dass unterschiedliche passive und aktive Sicherheitssysteme auch unterschiedliche Aktivierungszeiten haben. Das bedeutet, dass dieselbe Situation für einen passives und aktives Sicherheitssystem mit langer Aktivierungszeit vergleichsweise kriti scher ist als für eines mit kurzer. Es gibt also allgemeingültige und speziell auf passive und aktive Sicherheitssysteme zugeschnittene Gefahrenpotentiale.The passive and active safety systems are merely due driven by thresholds of hazard potentials. There are several Hazardous potential combined to a passive and active To activate security systems. This means that the condition assessment first not the selection or the operating dosage which includes passive and active safety systems. It will a certain situation is evaluated by several hazard potentials. This leaves a more comprehensive assessment of the situation too. There are potential hazards the independent evaluate the situation from the passive and active security systems. Thus, for example, there can be a danger potential that is the longitudinal dynamic Driving condition evaluated. Accordingly, there is a general hazard potential which describes the lateral dynamic driving condition. In contrast to these universal hazards There are tailored to specific passive and active security systems special danger potentials. These potential dangers carry the Fact bill that different passive and active security systems also have different activation times. It means that same situation for a passive and active safety system with a long activation time comparatively critical is as for one with a short one. So there are universal and specific to passive and active safety systems tailored risk potentials.
Die
in dem elektronischen Steuersystem vorgesehene Arbitrierungseinheit
In
Abhängigkeit
von dem Zustand der Arbitriereinheit
Hierzu wertet der Zustandsautomat das Verhalten des Fahrers aus und schaltet davon abhängig Bremsdruckvorgaben des Gefahrenrechners frei. Ausgewertet wird im Wesentlichen die Fußbe wegung des Fahrers. Diese lässt Rückschlüsse darüber zu, wie gefährlich der Fahrer die gleiche Situation einschätzt bzw. ob er überhaupt eine kritische Situation erkannt hat. Erst wenn der Fahrer diese kritische Situation bestätigt, wird Fahrer unabhängig Bremsdruck aufgebaut.For this The state machine evaluates the behavior of the driver and switches depending on brake pressure specifications of the danger computer. Essentially, the evaluation is carried out Foot movement of the Driver. This leaves Conclusions about how dangerous the driver assesses the same situation or whether he at all has recognized a critical situation. Only when the driver this confirmed critical situation driver becomes independent Brake pressure built up.
Abschließend soll noch einmal betont werden, dass es bei der Erfindung um eine Zielbestätigung handelt, da die Daten überprüft, verifiziert und bestätigt werden, um die Sensoren gegenseitig zu ergänzen, wodurch die Datenübertragung zwischen den Sensoren einfach zu realisieren ist und keine hohen systemtechnischen Anforderungen gestellt werden.To conclude to emphasize once again that it is a destination confirmation in the invention, as the data is verified verified and confirmed be to complement each other's sensors, reducing data transmission between the sensors is easy to implement and no high system technical requirements are made.
- 11
- Fahrzeugvehicle
- 1010
- Radarradar
- 2020
- Kamerasensorcamera sensor
- 2121
- Kameracamera
- 2222
- Fahrspurfindunglane finding
- 2323
- Kamerabildcamera image
- 3030
- Objektauffindung für Sensor Iobject discovery for sensor I
- 3131
- Objekttracking für Sensor Iobject tracking for sensor I
- 3232
- Situationsanalyse für Sensor Isituation analysis for sensor I
- 4040
- Perzeption für visuellen Sensorperceptions for visual sensor
- 4141
- Objekttracking für visuellen Sensorobject tracking for visual sensor
- 4242
- Objektbestätigung und SituationsanalyseObject confirmation and situation analysis
- 4343
- Fahrspurprädiktionlane prediction
- 5050
- stastische und dynamische Objektestastische and dynamic objects
- 6060
- Relevante Obejkterelevant properties matching
- 7070
- Fahrzeuginformationvehicle information
- 8080
- Fahrerinformationdriver information
- 9090
- Gefahrenrechnerrisk calculator
- 100100
- Arbitrierungarbitration
- 110110
- Elektronische Bremsen Kontrolleinheit (ECU)electronic Brake control unit (ECU)
- 120120
- Sicherheitssystemesecurity systems
- 121121
- Gurtebelts
- 122122
- Schiebedach, FensterSunroof, window
- 123123
- Warnungwarning
- 124124
- Pedalrückwirkung (Force Feedback Pedal FFP)Pedal reaction (Force Feedback Pedal FFP)
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007049516A DE102007049516A1 (en) | 2006-10-13 | 2007-10-15 | Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006049102.5 | 2006-10-13 | ||
DE102006049102 | 2006-10-13 | ||
DE102007049516A DE102007049516A1 (en) | 2006-10-13 | 2007-10-15 | Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor |
Publications (1)
Publication Number | Publication Date |
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DE102007049516A1 true DE102007049516A1 (en) | 2008-04-24 |
Family
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DE102007049516A Withdrawn DE102007049516A1 (en) | 2006-10-13 | 2007-10-15 | Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor |
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