DE102008035942A1 - Recognition of road users - Google Patents

Abstract

According to one embodiment of the invention, the detection of another road user takes place by using the radar waves of a radar sensor for activating a transmitter which the other road user carries with him. The transmitter of the other road user sends a return signal to the vehicle, which uniquely identifies the road user and additionally contains meta information about the road user.

Description

Field of the invention

The The invention relates to safety technology for vehicles. In particular, the invention relates to a security system for Vehicles for detecting other road users, a vehicle with a vehicle assistance system for such a security system, a sensor unit for such a security system, the Use of a safety system in a vehicle, a procedure to recognize other road users, a program element and a computer readable medium.

Technological background

pedestrian protection takes in modern vehicles ever larger becoming important. Typical approaches to the protection of Pedestrians are based on person recognition in one Video image. However, this approach has the disadvantage that it is very expensive is and only with visual contact between camera and pedestrian works.

The DE 10 2007 023 888 A1 relates to pedestrian detection by means of a laser radar. The DE 10 2007 061 952 A1 concerns pedestrian localization as heat sources by means of a thermopile.

Both Procedures are relatively expensive.

Summary of the invention

It is an object of the invention, an improved detection of road users to provide in vehicles.

It are a safety system for vehicles and other road users for recognizing the other road users, a vehicle, a sensor unit, a use, a method, a program element and a computer readable Medium according to the characteristics of the independent Claims specified. Developments of the invention result from the dependent claims.

The described embodiments relate equally the safety system, the vehicle, the sensor unit, the use, the method, the program element and the computer-readable medium.

According to one Embodiment of the invention is a security system for vehicles and other road users for detection the other road user specified, with the security system a vehicle assistance system having a radar sensor, which integrated in the vehicle. Furthermore, a sensor unit intended for another road user. The sensor unit serves to generate and transmit a return signal to the vehicle assistance system when the sensor unit is a radar signal received from the radar sensor The vehicle assistance system is in this case at least for unambiguous identification of the type of road user executed on the basis of the received return signal.

In In other words, the vehicle assistance system is in the Vehicle and the sensor unit at the other road user, for example, a pedestrian. The radar sensor For example, the vehicle assistance system radiates continuously Radar waves or radar pulses. Will the sensor unit with such Waves or pulses irradiated with an intensity that exceeds a certain threshold, the sensor unit begins to generate a return signal and transmits this Return signal then to the vehicle assistance system. Naturally the return signal can already be generated in one Memory of the sensor unit is present. Detects the sensor unit the radar signal or the sensor unit is irradiated by the radar signal, This will result in a transmission of the return signal triggered.

in this connection contains the return signal data or information, referring to the road user and about which the type of road user can be determined. This determination is made then in the vehicle assistance system, so that the vehicle assistance system automatically without much effort realizes that it is, for example is about a pedestrian.

There the sensor unit transmits the return signal only then executes, if a certain, pre-set Threshold of the signal strength of the radar signal exceeded is (so the vehicle so the pedestrian or other road users to a certain distance approached The vehicle assistance system knows exactly how far the other road user is still away from the vehicle is located when the return signal from the vehicle assistance system Will be received.

This Threshold may depend on the outer Visibility and / or road conditions or other circumstances fully automatic or user-controlled be set. So it may be z. B. be that at a bad View the transmission of the road user identification (radio signal) already at a greater distance between the Road users and the vehicle takes place, as in a comparatively good view.

Also, the transmission in bad road conditions may be earlier than at good road conditions.

Also It is possible that the transmission is always then takes place when the sensor unit, for example, the radar signal just received or the intensity of the radar signal just enough to address the sensor unit or to activate. In this case, the earliest possible Time feedback signals sent from the sensor units to the vehicle assistance system. The vehicle assistance system can then be set so that It decides at which point in time the driver over inform the other road user. The timing of this Information can, as stated above, from external Circumstances, such as vehicle speed, visibility and road conditions, depend.

Also can include the road map in the decision be, when and if any information of the driver over the other road user is necessary. Represents the vehicle assistance system z. B. notes that the other road user actually located in a building or far from the roadside, Under certain circumstances, no driver warning is required.

One Core aspect of the invention is that a signal through the other road users is sent, which this unique identified as a pedestrian, etc. and possibly additional Contains information. This makes it possible to pedestrian with to recognize relatively little technical effort, without this a direct line of sight from the vehicle to the pedestrian would be required.

According to one Another embodiment of the invention has the return signal Metadata, which correspond to a position of the road user.

Therefor the sensor unit of the road user has a position determination unit (eg. B. a GPS module) on or is to such a position determination unit coupled.

Also For example, the return signal may include other metadata, such as the direction of movement and / or speed of the other road user.

According to one Another embodiment of the invention is the sensor unit executed in the form of a transponder or at least with equipped with a transponder activated by the radar signal becomes.

at the transponder is therefore a component which z. B. in Radio Frequency Identification Technology (RFID technology) is executed.

in this connection it can be passive transponder, which with a coil as a receiving antenna by induction charging a capacitor, if they receive the radar signal. Also, it can be active transponder act, for example, are battery-powered, so over have their own energy source.

According to one Another embodiment of the invention comprises the security system a hazard warning light which communicates with the sensor unit is and activated by the sensor unit upon receipt of the radar signal becomes. In this way, the recognizability of the other road user be further increased.

According to one Another embodiment of the invention, the sensor unit In addition, a wireless sensor, which is connected to the sensor unit communicates and from the transponder upon receipt of the radar signal is activated so that the radio transmitter sends a signal to the vehicle assistance system sends.

In In other words, the sensor unit only needs the radar signal detect. For transmission of the return signal is in addition to the transponder (sensor unit) a radio transmitter intended. In this way, for example, the range for sending of the return signal can be increased because of the radio transmitter for example, has a higher transmission range than the transponder. As a result, the security can be increased again become.

According to one Another embodiment of the invention is at the other road user to a cyclist, one Pedestrian, a motorcyclist, a stroller or an animal, the return signal being a distinction of various road users through the vehicle assistance system allows.

According to one Another embodiment of the invention is the radar sensor designed as a long-range radar sensor or Nahbereichsradarsensor.

According to one Another embodiment of the invention is the sensor unit for integration in a garment of the other road user executed. In this way, it can be ensured that the other road user, which is for example is a child who always carries the sensor unit with him. Also the integration in everyday objects or bags or backpacks is conceivable.

According to one Another embodiment of the invention is a vehicle with a vehicle assistance system for an above-described Safety system specified.

According to one Another embodiment of the invention is a sensor unit for a security system described above.

According to one Another embodiment of the invention is the use a vehicle assistance system for an above-described Security system specified in a vehicle.

According to one Another embodiment of the invention is a method to identify other road users where the other road users by a radar signal from a radar sensor a vehicle assistance system is illuminated. It will be thereupon generates and transmits a return signal to the vehicle assistance system, if the sensor unit of the other road user the radar signal received by the radar sensor. Then there is a clear Identify the type of road user based on the received Return signal through the vehicle assistance system.

According to one Another embodiment of the invention is a program element indicated that when executed on a processor will guide the processor, the process steps described above perform.

there For example, the computer program element may be part of a software which is stored on a processor of vehicle management. Likewise, the computer program element in an electronic Brake assistants are used. The processor can do the same Be the subject of the invention.

Farther This embodiment of the invention includes a computer program element which already used the invention from the beginning, as well as a computer program element which by updating an existing program for using the invention causes.

According to one Another embodiment of the invention is a computer-readable Specified medium containing a program element that, when running on a processor, the processor instructs to carry out the above-mentioned process steps.

At It should be noted that in the context of the invention GPS representing all Global Navigation Satellite Systems (GNSS) stands, such as GPS, Galileo, GLONASS (Russia), Compass (China), IRNSS (India), ...

Under The term "digital maps" are also maps for to understand advanced driver assistance systems without a navigation takes place.

at the vehicle is, for example, a motor vehicle, such as car, bus or truck, or even a rail vehicle, a ship, an aircraft, such as a helicopter or airplane, or for example, a bicycle.

At This point should also be noted that the position determination by the device that the other road user carries with him carried out via a navigation satellite system can, or even via a cell positioning in one cellular communication network. This is particularly suitable when using GSM or UMTS networks.

in the The following will be preferred embodiments with reference to the figures of the invention.

Brief description of the figures

1 shows a schematic representation of a vehicle assistance system according to an embodiment of the invention.

2A and 2 B show schematic representations of sensor units according to two embodiments of the invention.

3 shows a schematic representation of a security system according to an embodiment of the invention.

4 shows a flowchart of a method according to an embodiment of the invention.

Detailed description of embodiments

The Representations in the figures are schematic and not to scale.

In The following figure description will be for the same or similar elements use the same reference numerals.

1 shows a schematic representation of components of a vehicle assistance system 100 to the vehicle assistance unit 125 are connected.

The vehicle assistance system 100 has a control unit 140 , a communication unit 122 with an antenna 123 and a position reference determination unit 106 on. Furthermore, a beam sensor 105 , For example, in the form of a radar sensor provided.

The system is able to receive data from the control unit 140 , which is implemented, for example, in the form of a CPU, to the communication unit 122 and via an encryption device 121 to encrypt. Likewise, received data can be received by the communication unit 122 to the control unit 140 transmitted by the encryption unit 121 be decrypted.

On this way, the risk of abuse can be reduced.

Furthermore, with the control unit 140 an input unit 126 connected through which various settings of the system can be made. For example, it can be determined in this way which data should be transmitted to the driver with regard to the other road user. Also, the driver can determine in this way, whether he wants to be warned more or less early.

Furthermore, an optical output unit is in the form of a monitor 128 provided on the example, route guidance information can be output in combination with the warnings regarding the other detected road users. Also, this information about the acoustic output unit 127 be issued. The output via the acoustic output unit 127 has the advantage that the driver is less distracted from the current traffic. Another possibility is haptic feedback by z. As an active accelerator pedal, a jolting seat, a vibrating steering wheel or a brake pressure. These are not shown in the figure.

In a memory element 124 that with the control unit 140 is connected or in the control unit 140 is integrated, digital map data (eg as navigation map data) are stored in the form of data records. For example, in the memory element 124 also stored additional information about traffic restrictions, infrastructure facilities and the like and associated with the records.

The driver assistance unit 125 can be supplied with the digital map data and the other information, in particular the information of the return signal from the other road user.

The return signal is transmitted via the transmitting / receiving unit 122 receive.

The system identifies the current vehicle position 100 a navigation unit 120 with a satellite navigation receiver 106 configured to receive positioning signals from, for example, Galileo satellites or GPS satellites. Of course, the positioning unit with the satellite navigation receiver 106 also be implemented for other satellite navigation systems.

The positioning unit 106 is with the control unit 140 connected. Also, the navigation unit 120 with the control unit 140 connected. Furthermore, there is a direct connection between the navigation unit 120 and the positioning unit 106 , Thus, the GPS signals can be sent directly to the CPU 140 be transmitted.

Since the positioning signals are not always receivable, for example, in the inner city area, the sensors 119 of the system 100 for performing a dead reckoning also a direction sensor 107 , a distance sensor 108 , a steering wheel angle sensor 109 , a spring travel sensor 102 , an ESP sensor 103 and optionally an optical detector 104 in the form of a camera, for example. Likewise, as already mentioned, a beam sensor 105 (Radar sensor) provided. Furthermore, the sensors 119 a speedometer 101 on.

The signals of the GPS receiver 106 and the other sensors are in the control unit 140 processed. The vehicle position determined from these signals is compared to the road maps via map matching. The route guidance information obtained in this way is transmitted via the monitor 128 finally spent.

The Pedestrians and the other road users by the individual return signal (identifier) clearly from different goals and do not have algorithms be searched in the sensor signals.

The used transponders are cheap or expand already existing technology, such as in the case of a mobile phone. Furthermore, already existing in the vehicle radar sensors used to activate the transponder.

The Pedestrians are opposite to other destinations distinguishable by the transmission of an identifier. Also can different similar goals by a unique Identification number are distinguished.

2A and 2 B show sensor units according to two embodiments of the invention.

The sensor unit 200. of the 2A includes a transponder 202 (Sensor), which is integrated into a plastic card of the format of a credit card. The sensor unit 202 of the 2 B points next to the sensor 205 , which is designed either as a pure sensor or as a transponder, an extra transmitter 203 with an antenna 204 on. The transmitter 203 For example, it has its own power supply.

By the reception of the radar signal is in each case the transmission of the return signal.

3 shows a security system according to an embodiment of the invention. The vehicle assistance system 100 is in the vehicle 301 integrated. The sensor units 200. are in the clothes of pedestrians 303 . 304 or in a stroller 302 integrated.

In one embodiment, the vehicle is radiating 301 via its far-range radar (77 GHz) pulses, wherein the radar is still used for the driver assistance system. The pulses hit an active transponder, which forms part of the sensor unit 200. forms or forms the sensor unit completely. The transponder carries the pedestrian with him. The transponder then awakens from its "deep sleep" and sends back a signal according to the principle of the secondary radar.

This Signal may be on another frequency in the UHF or SHF range, z. B. transmitted in one of the freely usable ISN bands be, for example in the 433 MHz band or in the 2.4 GHz band.

at 2.4 GHz are no disturbing restrictions in terms of repetition rate, the frequency is international uniformly available and also the antennas for this frequency can be at acceptable radiation efficiency be made sufficiently small. With regard to the directional characteristic 433 MHz or 415 MHz are cheap.

With the secondary signal can be clearly identified make it emanate from a pedestrian. Out Cost reasons, it is possible with the return signal to submit any further information. The transponder can be in the form of a credit card and in this way in your wallet be carried along. Also, the transponder in schoolbags, Jackets, shoes or other garments integrated be.

Also the transponder can be integrated into a modern mobile phone. This also has a GPS receiver on board and not only sends the pedestrian identifier and a unique number as a return signal, but also the Position back. This facilitates the vehicle assistance system the distinction and localization of different pedestrians. For the frequencies the above applies.

Also can be the activation of the transponder to light a hazard warning light lead, which z. In a satchel or clothes of the pedestrian or cyclist integrated is. In addition, the pedestrian identifier be transmitted by radio. By the hazard warning light is It is even possible for the driver to see where the pedestrian is located.

Farther can activate by sending a pulse in the 2.4 GHz band or another ISM tape or other freely usable one Frequency band or by short-range radar (24 GHz).

The described embodiments can be varied and combined with each other. Instead of pedestrians This technique can also be used by cyclists, motorcyclists, Animals, strollers, etc. are detected. To do this only other identifiers are defined.

additional It should be noted that "comprehensive" and "having" does not exclude other elements or steps and "one" or "a" does not exclude a multitude It should be noted that features or steps with reference to one of the above embodiments has been described are, even in combination with other features or steps of others The above-described embodiments are used can. Reference signs in the claims are not to be considered as restrictions.

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 102007023888 A1 [0003]
• DE 102007061952 A1 [0003]

Claims (14)

Safety system for vehicles and other road users to detect other road users, having the safety system: a vehicle assistance system ( 100 ) with a radar sensor ( 105 ) in a vehicle ( 201 ); a sensor unit ( 200. ) for another road user ( 302 . 303 . 304 ); wherein the sensor unit is adapted to generate and transmit a return signal to the vehicle assistance system when receiving a radar signal from the radar sensor; wherein the vehicle assistance system is designed at least for unambiguous identification of the type of road user on the basis of the received return signal. A security system according to claim 1, wherein the return signal Has metadata associated with a position of the road user correspond. Safety system according to claim 1 or 2, wherein the sensor unit ( 200. ) in the form of a transponder or at least has a transponder which is activated by the radar signal. A safety system according to any one of the preceding claims, further comprising: a hazard warning light associated with the sensor unit (10); 200. ) and from the sensor unit ( 200. ) is activated upon receipt of the radar signal. Safety system according to one of the preceding claims, the sensor unit ( 200. ) comprising: a radio transmitter ( 203 . 304 ) connected to the sensor unit ( 202 . 205 ) and from the sensor unit ( 202 . 205 ) is activated upon receipt of the radar signal, so that the radio transmitter sends a signal to the vehicle assistance system ( 100 ) sends. A safety system according to any one of the preceding claims, wherein the other road user is a cyclist, a pedestrian, a motorcyclist, a stroller or an animal; and wherein the return signal distinguishes different road users by the vehicle assistance system ( 100 ). Safety system according to one of the preceding claims, wherein the radar sensor ( 105 ) is a long range radar sensor or a near range radar sensor. Safety system according to one of the preceding claims, wherein the sensor unit ( 200. ) is designed for integration in the clothing of the other road user. Vehicle with a vehicle assistance system ( 100 ) for a security system according to one of the preceding claims. Sensor unit for a safety system according to one of claims 1 to 8. Use of a vehicle assistance system ( 100 ) for a safety system according to one of claims 1 to 8 in a vehicle. A method of detecting other road users, the method comprising the steps of: illuminating the other road user ( 302 . 303 . 304 ) by a radar signal from a radar sensor ( 105 ) of a vehicle assistance system ( 100 ); Generating and transmitting a return signal to the vehicle assistance system when a sensor unit ( 200. ) of the other road user ( 302 . 303 . 304 ) receives the radar signal from the radar sensor; uniquely identifying the type of road user on the basis of the received return signal by the vehicle assistance system. Program element that executes the processor when executed on a processor ( 101 ) to carry out the following steps: illuminating the other road user ( 302 . 303 . 304 ) by a radar signal from a radar sensor ( 105 ) of a vehicle assistance system ( 100 ); Generating and transmitting a return signal to the vehicle assistance system when a sensor unit ( 200. ) of the other road user ( 302 . 303 . 304 ) receives the radar signal from the radar sensor; uniquely identifying the type of road user on the basis of the received return signal by the vehicle assistance system. A computer readable medium having stored thereon a program element which, when executed on a processor, instructs the processor to perform the following steps: illuminating the other road user ( 302 . 303 . 304 ) by a radar signal from a radar sensor ( 105 ) of a vehicle assistance system ( 100 ); Generating and transmitting a return signal to the vehicle assistance system when a sensor unit ( 200. ) of the other road user ( 302 . 303 . 304 ) receives the radar signal from the radar sensor; uniquely identifying the type of road user on the basis of the received return signal by the vehicle assistance system.