DE102007053705A1 - Vehicle e.g. motor vehicle, collision avoiding method for driver assistance system, involves outputting alert if appropriate parameters of vehicle lie in range dependent on computed vehicle parameters - Google Patents

Abstract

The method involves computing a geometrical collision point at which two vehicles (A, B) e.g. motor vehicle, collide with one another in accordance with speed. A circular path for driving the vehicle (A) to reach a collision point is computed. Vehicle parameters e.g. speed, of the vehicle (A) are determined and stored, where the parameters are necessary for driving on the computed circular path. An alert is output if the appropriate parameters of the vehicle (A) lie in a range dependent on the computed parameters.

Description

The The present invention relates to a method for avoiding Collisions of two vehicles during the turn.

In the DE 10 2004 057 745 A1 there is disclosed a driving assistance apparatus which detects data about a vehicle such as vehicle data of an oncoming vehicle and an arrival time of the oncoming vehicle to an intersection at which the own vehicle waits for a turning operation. Another device compares the arrival time of the oncoming vehicle and the (expected) turn time of the vehicle to either issue a warning to the driver of the vehicle to warn of the possibility of a collision or to control the vehicle by applying a braking force the acceleration is limited.

The DE 10 2005 020 429 describes a method of assisting the driver in crossing traffic intersections. The traffic intersection to be crossed is divided into several zones which are assigned to areas on the road and the zones are determined on the basis of environmental information describing the trafficability of the zone situation-dependent state value and on the basis of these state values then a driving movement for crossing the traffic intersection is set, it is the track to the shortest possible route from the starting field to the target field for crossing the traffic intersection.

The known methods set a significant number of systems and Sensors ahead and are therefore relatively expensive. Still must from the known systems a large amount of computational effort be, so that a correspondingly complex computing power and control is necessary.

Of the Invention is based on the task, compared to the known a cheap and easy procedure for one Driver assistance system to create which the turning process vehicle to be bent in the event of a possible collision with an oncoming vehicle warns.

at a generic resulting from the preamble of the main claim The method is solved by the task in the characterizing part of the main claim listed feature combination solved.

The invention consists of determining with very simple means the local and temporal conditions of the situation in which a collision is possible to derive therefrom the vehicle control variables to be set and then to issue a warning if the driver or the vehicle is just fulfilling them. In this case, the calculation for determining the data simplifies the assumption that both vehicles maintain their speed and that the first vehicle approaches the second vehicle on a circular path ( 3 ). Although such a calculation approximates the reality only roughly, but requires only a small amount of computing power, so that it can be updated very quickly and the accuracy increases sharply with the closer approach of the vehicles to each other (see features of claim 2).

The second Vehicle "does not have to be a motor vehicle, it can be also about a motorcycle, a bicycle, a pedestrian or another moving object.

In an embodiment of the invention, the application of the Features according to claim 3. This case occurs, for example when the second vehicle changes its direction of travel at an intersection (Right turn) or the first vehicle when turning left changes its direction of travel. By the features listed in claim 3 can the effectiveness of the invention Significantly increase the process. The method of claim 3 leaves also accomplish themselves with comparatively simple means. So it is z. B. possible, with a radar sensor, the change determine the direction of movement of the second vehicle and in to include the calculation. The same applies to the first vehicle where due to the measured steering angle change and / or yaw angle change the calculation of the collision point can be corrected accordingly in a suitable manner.

In a further embodiment of the invention, the use of the features according to claim 4 to claim 6 is recommended, which can be prevented even then warnings are issued when a collision of the first vehicle with the second vehicle due to the current positions and directions of movement virtually impossible is. If, for example, the first vehicle has approached the second oncoming vehicle so far that for simultaneous arrival at the collision location with vehicle two, the first vehicle must travel through a circular path that is greater than the maximum lateral acceleration possible due to the vehicle and surrounding parameters (approximately 10 m) / s ² ), so a collision is practically impossible.

On the other hand, it is not necessary to issue a warning when the calculated too a collision leading steering angle very small, the longitudinal distance to the vehicle two, however, is so large that the required maneuver does not correspond to a turn.

Further has already been explained that the invention Procedure of greatly simplified boundary conditions assumes so that the actual danger situation can be determined only with a blur is. For example, in the calculation, it is assumed that the position of the second vehicle determined by the sensors represents a point. Furthermore, it is assumed that The first vehicle moves on a circular path. To the actual Danger situation is, therefore, to the calculated point of collision assumed a security area in which both stay Vehicles a collision is very likely. Outside This safety area lying trajectories are either in front of or behind the security area and mean during the stay one of the two vehicles at time T a lower probability of collision and therefore should not lead to an issue of a warning.

In an advantageous development of the invention recommends the Use of the features according to one of claims 7 to 9. The process according to the invention offers namely the option of having it with extremely low technical Means can be carried out. To determine the speed For example, the second vehicle is only a single sensor such as As a radar sensor or a camera necessary. The movement parameters like z. For example, the speed and the direction of travel of the first vehicle are known and those for determining the probability of collision required computing power can be provided by the vehicle with the existing Means be done with, so with these simple means the inventive method already performed can be.

Further Details, features and advantages of the subject matter of the invention emerge from the subclaims and from the following description the accompanying drawings, in which a preferred example the invention is shown. The figures show:

1 Simplified representation of a first (A) and second (B) vehicle wherein the first vehicle (A) would have to take a steering or yaw angle to the collision, which can not be achieved due to the physical conditions practically

2 : Simplified representation of a first (A) and second (B) vehicle wherein the turning operation according to the calculated circle ( 2 ) is not critical due to the large vehicle distance.

3 : Simplified representation of a first (A) and second (B) vehicle in which the critical area (B *) of a possible collision is shown, the calculated uncritical circle lines before ( 5 ) and behind ( 4 ) of the critical area, as well as the critical circle line ( 4 ), which would lead to a collision.

A first embodiment is in 1 represented in the form of a highly simplified sketch of the method according to the invention. The sensor, z. B. a radar sensor located in the front of the vehicle A, recognizes the front of the vehicle B as relevant for a collision object. The first vehicle A is therefore located next to the vehicle B. The theoretically leading to the collision line 1 can not be reached practically by a large steering or yaw angle, so that waives a warning.

Another embodiment is in 2 shown as an example and greatly simplified. The turning of the first vehicle A is by a circular line 2 represented by the steering angle of the first vehicle A by a steering angle sensor and by measuring the speed and direction of the second vehicle B by means of a radar sensor in the vehicle A is calculated. The circle line 2 is not critical for a collision, since the distance of the first vehicle A to the second vehicle B during the turning process is very large.

Another simplified example is in 3 shown. The circular path of the first vehicle A has been determined by the steering angle and the speed of the arithmetic unit. Starting from the direction of movement and speed of the second vehicle B results in a circular path 4 which intersects with the calculated critical area B * and therefore would cause a collision, therefore issuing a warning signal. If the driver then accelerates his vehicle A so that he turns in front of the critical area B *, no warning signal is emitted and the calculated course corresponds to the circular path 5 , If the driver delays his vehicle A in such a way that the turning operation takes place behind the critical area B *, no warning signal is likewise emitted. Apart from the acceleration, the driver of the first vehicle A achieves the same effects by achieving the circular path 5 increases the steering angle of his vehicle or to achieve the circular path 3 sets a less strong steering angle. In this example, a combination of steering and speed change is conceivable. The parameters, ie the critical area B * and the trajectories, to avoid the collision are continuously recalculated and the driver, if necessary, issued a warning. Should the driver of the first vehicle A still leading to the collision circular path 4 maintained, is determined after exceeding a limit value of the arithmetic unit, a braking intervention is triggered, which just prevents a collision.

A

first vehicle

B

second vehicle

B *

critical collision surface

1

theoretical Circular line that would lead to a collision

2

uncritical Circular line that does not lead to a collision

3

uncritical Circular line behind the critical area B *, which is not to Collision leads

4

critical Circular line leading to a collision

5

uncritical Circular line in front of the critical area B *, not to the Collision leads

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102004057745 A1 [0002]
• - DE 102005020429 [0003]

Claims (10)

A method for avoiding a collision of a first vehicle with a second vehicle during the turning operation of the first vehicle when turning the first vehicle crosses the opposite lane on which the second vehicle moves in the opposite direction, characterized in that due to the speeds of the two vehicles, the geometric collision point is calculated in which the two vehicles can collide with each other, calculating the orbit which the first vehicle must drive to reach the collision point, and determining and storing the vehicle parameters of the first vehicle required to travel the calculated orbit and a warning is output when the corresponding parameters of the first vehicle are in a dependent of the calculated parameters range. Method according to claim 1, characterized that while driving the first vehicle due to the current speeds of the two vehicles for collision leading parameter of the first vehicle constantly be recalculated. Method according to claim 1 or 2, characterized that with respect to the calculation, the changes of the directions of movement the first and / or second vehicle are taken into account. Method according to one of the preceding claims characterized in that waived a warning, or the calculation is aborted if due to the calculated circle the necessary for collision steering angle change or yaw angle change is so large that due to the physical conditions such a steering angle change or yaw angle change practically can not be achieved. Method according to one of the preceding claims characterized in that waived a warning when steering angle changes are made so small that statistically no Turning process is present. Method according to one of the preceding claims, characterized in that due to the assumed by the Boundary conditions of vehicle dimensions and others in the calculation neglected sizes a the collision point surrounding security area is determined, due to which no Warning is issued when the first vehicle with its current parameters outside this security area. Method according to one of the preceding claims characterized in that the first vehicle at least one Device for determining the position and speed of the second vehicle is equipped. Method according to one of the preceding claims characterized in that the first vehicle at least one Sensor equipped to determine the steering and / or yaw angle is. Method according to one of the preceding claims characterized in that the computing power with conventional Vehicle components is provided. Method according to one of the preceding claims characterized in that in connection with the warning automatically a braking process is triggered when a certain limit is exceeded becomes particularly likely in the collision with the second vehicle is.