DE102008040077A1 - Driver assistance process - Google Patents

Driver assistance process

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Publication number
DE102008040077A1
DE102008040077A1 DE200810040077 DE102008040077A DE102008040077A1 DE 102008040077 A1 DE102008040077 A1 DE 102008040077A1 DE 200810040077 DE200810040077 DE 200810040077 DE 102008040077 A DE102008040077 A DE 102008040077A DE 102008040077 A1 DE102008040077 A1 DE 102008040077A1
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DE
Germany
Prior art keywords
motor vehicle
driver assistance
sensor
situation
system
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Withdrawn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
DE200810040077
Other languages
German (de)
Inventor
Heribert Uhl
Werner Uhler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE200810040077 priority Critical patent/DE102008040077A1/en
Publication of DE102008040077A1 publication Critical patent/DE102008040077A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/022Collision avoidance systems

Abstract

The invention relates to a driver assistance method for indicating and / or autonomous or partially autonomous adjustment of a collision-avoiding driving maneuver of a motor vehicle (1) based on at least one determined avoidance trajectory in order to avoid an accident while the motor vehicle (1) is traveling, with the following steps a situation detection step for detecting a current surrounding situation of the motor vehicle (1) by means of at least one object detection sensor (5a) of the motor vehicle (1) and / or data of at least one further vehicle system (6, 7); a situation judgment step for determining at least one evasion trajectory based on the current environment situation of the motor vehicle (1) and a trajectory prediction for the motor vehicle (1) and for at least one detected object (3) in the environment (2) of the motor vehicle (1); and an action step for the display and / or autonomous or semi-autonomous adjustment of the driving maneuver based on one of the determined avoidance trajectories.

Description

  • State of the art
  • The The invention relates to a driver assistance method for displaying and / or autonomous or semi-autonomous adjustment of a collision avoiding or collision sequence-reducing driving maneuver of a motor vehicle according to the preamble of claim 1. Further The invention relates to a computer program, a computer program product and an apparatus for performing such a driver assistance method or perform.
  • Known are systems for braking a vehicle or motor vehicle at a recognized imminent accident situation, mainly based on long- and medium-range environmental sensors, for example based on (long-range radar (LRR), lidar, mid-range radar (MRR), Short-range radar (SRR), ultrasound, video or the like). The Braking the vehicle can with different strengths take place, in particular by reparameterization of the brake assist and pre-filling the brake system, early driver warning (ie braking by the driver) and autonomous or full braking.
  • Just at higher speeds is an accident prevention by a pure brake intervention at today's ranges for a secure situation detection is often not possible whereas an evasion until the moment of impact physics is still possible. An advance of the warning times so far that a braking intervention for accident prevention still possible is based on today's sensors due to then occurring too high false warning rates impractical.
  • Farther are known prototype systems based on the above Sensor systems braking or evasive maneuvers autonomous or perform partially autonomously. The situation assessment relates but only one target object or obstacle and one already given avoidance trajectory.
  • systems, which capture the environment only incompletely and to be involved in the assessment are critical in that they may exacerbate the danger situation can, for example, by a control of the vehicle in oncoming traffic.
  • The DE 10 2004 056 120 A1 relates to a method for collision avoidance or Kollisionsfolgenminderung during a journey in which a motor vehicle approaches an obstacle, in particular a preceding vehicle, wherein a method at least the relative speed between the motor vehicle and the obstacle is determined, one to the latest start of a collision avoiding evasive maneuver remaining time period is determined as an alternate period and a collision avoiding or collision sequence-reducing action is performed in dependence on the determined avoidance period.
  • Advantages of the invention
  • The driver assistance method according to the invention for displaying and / or autonomous or semi-autonomous adjustment of a collision-avoiding driving maneuver of a motor vehicle based on at least one determined avoidance trajectory in order to avoid an accident while driving the motor vehicle has the following steps:
    • A situation detection step for detecting a current environment situation of the motor vehicle by means of at least one object detection sensor of the motor vehicle and / or data of at least one further vehicle system;
    • A situation judgment step for determining at least one avoidance trajectory based on the current environment situation of the motor vehicle and a trajectory prediction for the motor vehicle and for at least one detected object in the environment of the motor vehicle; and
    • An action step for the display and / or autonomous or partially autonomous adjustment of the driving maneuver based on one of the determined avoidance trajectories.
  • By the driver assistance method according to the invention the driver is advantageously displayed in difficult critical situations (panic), as a primary accident can be avoided (escape route). In addition, the system can autonomously adjust the vehicle or motor vehicle to the escape route or supports the driver by partially autonomous interventions, wherein the driver can advantageously also override the interventions in an advantageous manner. Fundamental here is the expansion of the situation recording and assessment of the consideration of other relevant road users (eg oncoming traffic), other driving areas (eg parallel lanes), edge structures and alternative spaces that are not provided as driving areas, for example trenches, fields or the like. Accordingly, it is advantageous if the environment situation has detected objects and / or free areas in the environment of the motor vehicle.
  • The inventive driver assistance method opens up the transverse guidance as a further degree of freedom for accident prevention. The relevant situation aspects are recorded and included in the criticality assessment included. A situational adaptivity of the driver assistance procedure the evacuation trajectories proposed or regulated by the driver is given in an advantageous manner.
  • THEREFORE becomes an entire family of dodging features at threatening Accident situation indicated that the driver based on different Characteristics of the environment detection, different characteristics the situation assessment, different characteristics networking with other motor vehicles or the infrastructure and different forms of vehicle intervention, assist in dodging.
  • In An embodiment of the invention may be an assessment of criticality the determined avoidance trajectories are performed, the favorable avoidance trajectory for the Driving maneuver is selected.
  • A Extension of the driver assistance procedure consists in several possible evasion trajectories due to a damage / accident severity estimate to select the best possible trajectory and the Recommend driver or regulate autonomous or teilautononom.
  • One Computer program with program code means or a computer program product with program code means stored on a computer readable medium are stored to the driver assistance method according to the invention are specified in claim 7 and claim 8.
  • claim 9 relates to a device, in particular driver assistance system a motor vehicle, for carrying out the inventive Driver assistance method with at least one object detection sensor for the detection of objects or obstacles in an environment of Motor vehicle, and a control device, which with the at least an object detection sensor and at least one other vehicle system connected is.
  • The Driver assistance system detects with a forward-looking sensor the current situation in front of the motor vehicle, which objects and their future trajectories, as well as possible Fahrräume including escape routes also outside the roadway (eg ditch) has and warns the Driver facing a possible collision.
  • Knows the driver assistance system can provide a safe evasion trajectory show it to the driver. Alternatively or in addition the system supports the driver by intervening in the Driveline, the brake system and / or the steering system or triggers autonomous override (possibly not overrideable) Steering and / or braking intervention to this evasion trajectory traveled. It is therefore very advantageous if the driving maneuver at least one brake intervention and / or at least one steering intervention having. The driver can based on the system reactions displayed to him (especially the avoidance trajectories) monitor the system behavior and override if necessary with intervening functions.
  • When further vehicle systems of the motor vehicle come in particular a Engine / driveline control device, a braking system, a steering system, a navigation system and / or a C2X communication system, d. H. a C2C (Car to Car) - or C2I (Car to Infrastructure) - or I2C (Infrastructure to car) communication system.
  • When Object detection sensors are preferably radar sensors, in particular Long-range radar sensors, mid-range radar sensors, short-range radar sensors, Lidar sensors, ultrasonic sensors or video sensors (eg Basis of CCD or CMOS imagers) or combinations thereof. The object detection sensors can be front, back or be arranged laterally on the motor vehicle.
  • In An advantageous embodiment of the invention may be a human / machine interface be provided for interaction with the driver.
  • The inventive driver assistance method for Display and / or autonomous or semi-autonomous adjustment of a collision-avoiding or collision-sequence-reducing driving maneuvers of a motor vehicle based on a determined evasion trajectory, to an accident while driving the motor vehicle Avoid is preferably as computer program on a control device the driver assistance system of the motor vehicle, realized, wherein Of course, other solutions are also possible come. For this purpose, the computer program is in a memory element (z. ROM, EEPROM or the like) of the controller. By processing on a microprocessor of the controller the procedure is carried out. The computer program can on a computer readable medium (floppy disk, CD, DVD, Hard disk, USB memory stick, memory card or the like) or an Internet server stored as a computer program product and transferred from there into the memory element of the control device become.
  • advantageous Refinements and developments of the invention will become apparent the dependent claims. The following is based on the drawing an embodiment of the invention in principle described.
  • Brief description of the drawing
  • It demonstrate:
  • 1 A simplified schematic representation of a motor vehicle in which a driver assistance method according to the invention is implemented;
  • 2 a simplified signal flow diagram of the inventive driver assistance method; and
  • 3 a simplified schematic representation of a motor vehicle, in which a further embodiment of the driver assistance method according to the invention is implemented in particular with a back and side protection.
  • Description of exemplary embodiments
  • In 1 is a motor vehicle 1 on which the driver assistance method according to the invention for displaying and / or autonomous or semi-autonomous adjustment of a collision avoiding or collision sequence-reducing driving maneuver of the motor vehicle 1 based on a determined avoidance trajectory, while driving the motor vehicle 1 to avoid an accident is implemented. When approaching while driving, in an occupied area 2 B a relevant environment for the vehicle management 2 (simplified dashed lines indicated) located, object or obstacle 3 should be a driving maneuver of the motor vehicle 1 autonomously or partially autonomously performed or adjusted or proposed or displayed to evade. One as a driver assistance system 4 A trained device for carrying out the driver assistance method according to the invention assists the driver in avoiding the obstacle 3 and leads him autonomously or teilautonom in the event of an imminent collision on a safe trajectory, the none with their own motor vehicle 1 surrounding obstacle 3 collided. In such a driving maneuver, for example, free areas 2a of the environment 2 be driven.
  • The car 1 or the driver assistance system 4 has in the front area as environment-sensing sensors or as object detection sensor as a long-range radar sensor 5a trained radar sensor for the metrological detection of the frontal traffic situation or the environment 2 in front of the motor vehicle 1 on. Instead of the long-range radar sensor 5a may be provided in other embodiments, for example, a corresponding long-range lidar sensor. The long-range radar sensor 5a is connected to a control device 4a of the driver assistance system 4 in connection. With the control device 4a can due to the sensor signals of the long-range radar sensor 5a Objects or obstacles 3 , are recorded. Furthermore, an HMI (Human Machine Interface) controller 4b for a human / machine interface (not shown in detail) for the driver's interaction with the driver assistance system 4 connected. In the present case, the control device 4a of the driver assistance system 4 Access to a brake system controller 6 a brake system, not shown, of the motor vehicle 1 and to a navigation system controller 7a one in 2 Navigation system shown in detail 7 of the motor vehicle 1 ,
  • The driver assistance method according to the invention for displaying and / or autonomous or semi-autonomous adjustment of a collision-avoiding or collision-sequence-reducing driving maneuver of the motor vehicle zeugs 1 based on a determined avoidance trajectory, while driving the motor vehicle 1 to avoid an accident is preferably as a computer program on the control device 4a a driver assistance system 4 of the motor vehicle 1 , realized, with other solutions of course come into question. For this purpose, the computer program is in a memory element, not shown, of the control device 4a saved. By processing on a likewise not shown microprocessor of the control device 4a the procedure is carried out. The computer program can be stored on a computer-readable data carrier (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and from there into the memory element of the control device 4a be transmitted.
  • The driver assistance method according to the invention comprises:
    • - A situation detection step for detecting a current environment situation of the motor vehicle 1 by means of the long-range radar sensor 5a of the motor vehicle 1 and data of the navigation system 7 as another vehicle system;
    • A situation judgment step for determining at least one avoidance trajectory based on the current environment situation of the motor vehicle 1 and a trajectory prediction for the motor vehicle 1 and for the detected object 3 in the environment 2 of the motor vehicle 1 ; and
    • An action step for the display and / or autonomous or partially autonomous adjustment of the driving maneuver based on one of the determined avoidance trajectories.
  • The surrounding situation has detected objects 3 and free areas 2a in the environment 2 of the motor vehicle 1 on.
  • In the action step, on the one hand, a display of a corresponding warning, in particular via the human / machine interface or, on the other hand, an active intervention of the driver assistance system 4 by means of a correcting with the aid of the brake system control device 6 via a specific braking force increase or as in 3 represented by means of a corresponding steering intervention via a steering system control device 10 of the motor vehicle 1 , respectively. The driving maneuver can thus have at least one brake engagement and / or at least one steering intervention.
  • to Selection of the avoidance trajectory to be displayed or adjusted in the present embodiment, in the situation judging step an assessment of the criticality of the determined evasion trajectories performed, using the favorable evasion trajectory is selected for the driving maneuver.
  • In 2 is a simplified signal flow diagram of the driver assistance method according to the invention or the driver assistance system 4 shown. The data or signal flow is indicated accordingly by arrows. The control device 4a of the driver assistance system 4 has a situation detection module 40 to perform the situation detection step, a situation assessment module 41 for performing the situation judging step and an action module 42 to carry out the action step.
  • The situation acquisition module 40 or a sensor data fusion 40a receives as signals the signals of a vehicle sensor system 5 or the signals from object detection sensors 5a - 5d (please refer 3 ). The signals of the object detection sensors 5a - 5d are read in a first step a, after which characteristics or locations of objects are determined in a second step b. Furthermore, the situation acquisition module receives 40 optionally (indicated by dashed lines) as input signals of a navigation system 7 or its navigation control device 7a and a C2X communication system 8th , The sensor data fusion 40a takes over the data / signals of all object detection sensors 5 . 5a - 5d and the systems 7 . 8th and bring them together. Overlapping areas are identified and matched, ie it is determined which locations of the one object detection sensor 5 . 5a - 5d the locations of the other object detection sensors 5 . 5a - 5d correspond. Thus, it becomes a consistent image of at least part of the environment 2 of the motor vehicle 1 created. The navigation controller 7a receives position data via an antenna in a known manner 7b or GPS 7c and data of an extended map 7d , The C2X communication system 8th can be designed as a C2C (Car to Car) or C2I (Car to Infrastructure) communication system and receives via an antenna 8a Signals from C2C (Car to Car) communication systems of other motor vehicles or Infrastructure to Car (I2C) communication systems of infrastructures (not shown). Advantageously, the C2X communication system receives 8th Data of the situation assessment module 41 to be able to send these in turn to other vehicles in the area.
  • In the situation assessment module 41 an estimate of the foreign trajectories, ie a trajectory prediction for the detected object, is carried out in a step c 3 in the environment 2 of the motor vehicle 1 respectively. for all relevant in the situation objects (oncoming traffic, peripheral buildings or the like). Thereafter, an estimate of the eigen-trajectories, ie a trajectory prediction for the own motor vehicle, is carried out in a step d 1 , In a step e, alternative alternatives are calculated or possible avoidance trajectories are identified. This is done by determining at least one evasion trajectory based on the current environment situation of the motor vehicle 1 and the previously estimated trajectory predictions. In a step f, a criticality estimate is performed, ie the criticality of the determined possible avoidance trajectories for the own motor vehicle 1 is judged. An estimation of the possible amount of damage occurring can also be carried out. The trajectories also take into account interventions in longitudinal and transverse guidance (braking, steering). Subsequently, in a step g, the evasion trajectory to be displayed and / or regulated is selected for the driving maneuver. For this purpose, the most favorable avoidance trajectory (eg with the lowest amount of damage) can be used. This is sent to the action module 42 to perform the action step via an actuator with an indication / adjustment of evasion trajectory passed.
  • In particular, the following measures can be taken:
    • 1. Warning with a driving recommendation via an acoustic output medium of the human / machine interface (eg via loudspeaker, possibly also with direction information by means of a voice output), and / or via an optical output medium in the vicinity or on a windshield of the motor vehicle 1 (For example, in an instrument cluster, a central display, a head-up display or LEDs above an instrument panel or an A-pillar of the motor vehicle 1 , as information z. B. lane marking by coloring on the head-up display), and / or via a haptic output medium (eg seat vibration, seat movement, accelerator pedal movement or accelerator pedal resistance, steering wheel movement or steering wheel resistance).
    • 2. Optionally an active intervention in the brake system of the motor vehicle 1 with the following possible characteristics: - reparameterization of a braking assistant of the brake system; - driver warning by a brake pressure; - construction of a partial delay; - establishment of a full delay; and / or - Direction of travel by an intervention of an optional ESP system of the motor vehicle 1 ,
    • 3. Optionally an active intervention by the steering system of the motor vehicle 1 with the following possible characteristics: - torque superimposition, which can optionally be overridden by the driver; - angle overlay - z. B. by an active steering system (not overridden steering, possibly overridden by other intervention); and / or - integration of an optional rear axle steering of the motor vehicle 1 ,
    • 4. Optionally active chassis intervention, eg. B. by adjustable damper, in particular for supporting the motor vehicle 1 when driving the avoidance trajectories.
  • In 3 is another embodiment with a back and side protection of a motor vehicle 1 illustrated on which the driver assistance method according to the invention is implemented. In this case, the control device 4a additionally with a motor / driveline control device 9 and a control device 10 connected to the steering system, not shown, which additionally steering interventions to control the maneuver by the action module 42 allows. When steering system is preferably an active steering system with an angle and / or torque superimposition into consideration.
  • As object detection sensors for the situation detection step are additionally a mid-range lidar sensor 5b in the front area, in particular for object classification and open space detection, and a mid-range lidar sensor 5c in the rear area for restoring the vehicle 1 , ie for detecting the traffic situation behind the motor vehicle 1 , intended. These can also be embodied as mid-range radar sensors or as mid-range video sensors (CCD sensors or the like) in further exemplary embodiments. For frontal object classification, besides the object detection sensors 5a . 5b also the optional C2X communication system 8th be used. For side protection are short-range radar sensors 5d intended. These can also be embodied as short-range lidar sensors, short-range video sensors or short-range ultrasound sensors in further exemplary embodiments. Of course, other sensor types can be used. With the appropriate changes, both multiple sensors and combinations of different sensors can be used. By ambient sensors or vehicle sensors 5 . 5a - 5d can be a highly accurate localization of your own motor vehicle 1 in relation to the environment or the environment 2 respectively. Procurement of data on local driving lanes, local development and non-driving areas as well as emergency traffic can be done via the extended car th 7d of the navigation system 7 or via the I2C communication system 8th or the powerful environment sensors or vehicle sensors 5 . 5a - 5d be performed. A sensor data fusion merges the corresponding sensor data.
  • The situation detection can thus take place as follows:
    • 1. There is only a frontal situation recording, ie the driver has to provide himself for the side and back protection.
    • 2. In addition, side protection can be provided by the short-range sensors 5d (For example, as with side view systems or blind spot detection systems, so called blind spot detection), ie the driver only has to make the reverse backup itself.
    • 3. In addition, a back-up protection by the mid-range sensor 5c done, z. B. according to a lane change assistant.
  • Advantageously, the driver assistance system 4 the following steps include:
    • - Measurement or procurement, eg. Via a C2C communication system 8th , from data of objects 3 in the situation;
    • - Estimation of future trajectories of objects 3 ;
    • - Estimation of future movement of own motor vehicle 1 ;
    • - detection of the criticality of the situation;
    • - Procurement of data on possible alternative spaces also outside the driving areas (eg from a navigation system 7 with extended card and / or via the C2I communication system 8th and / or an environment sensor 5 . 5a - 5d with a powerful open space detection;
    • - calculation of possible avoidance trajectories taking into account the alternative spaces;
    • - estimation of criticality or expected damage for the various alternative alternatives;
    • - Selection of the cheapest alternate alternative; and
    • - Warning of the driver with a display of the selected alternative alternative and / or with active assistance of the driver when driving on this alternative alternative.
  • The situation assessment may include the trajectory estimation or the criticality assessment with an object class estimation based solely on the autonomous environment sensor system 5 . 5a - 5d , or in addition to the C2X communication system 8th carry out.
  • The action section or vehicle intervention can:
    • - a permanent driving recommendation (display of possible driving areas or alternative rooms);
    • - a driver warning with a driving recommendation,
    • A limited braking intervention, wherein braking and steering intervention can be overridden (with at least frontal situation detection),
    • - A full braking intervention, braking and steering intervention are overridden (with at least frontal situation detection), and / or
    • - A full braking intervention, wherein braking and steering intervention are not overridden (with frontal situation detection, reverse protection and side protection) include.
  • It is very advantageous if the driver assistance system according to the invention not only on the own motor vehicle 1 but also via the C2X communication system 8th the behavior is coordinated with the other participants in the situation - in a similar way to cooperative collision avoidance systems in the aviation sector.
  • The driving maneuver to be carried out is based on a collision avoidance of the avoidance trajectory which, in the case of the use of corresponding sensors (lidar sensors, video sensors), takes into account by means of the method described below for determining the free areas or free areas 2a in the neighborhood 2 of the motor vehicle 1 certain free areas 2a can be determined. This information is from the mid-range sensor 5c in the front area of the motor vehicle 1 about the detected object 3 taking into account the characteristics of the physical measuring principle of the mid-range sensor 5c used, wherein z. B. is considered in a Lidarsensor that he is able by means of a single measurement multiple objects 3 be detected directly, or taken into account in a video sensor that he can measure open spaces directly, ie without inverting an object detection. Accordingly, information about the freedom or driveability of areas of the vehicle environment will be easily obtained 2 from the measurements or locations of objects 3 derived.
  • One possible manifestation of the procedure is knowledge about the condition of the vehicle leadership relevant environment 2 of the motor vehicle 1 in the form of probabilities for occupancy and non-occupation of areas or areas 2a . 2 B store. Thus, the areas can 2a . 2 B in the neighborhood 2 of the motor vehicle 1 each probability values for the non-occupancy of the respective area 2a . 2 B be assigned. In the present embodiment, the areas 2a . 2 B in the neighborhood 2 of the motor vehicle 1 divided into individual cells (not shown in detail), which each probability values p are assigned freely for the non-occupancy of the respective cell. p occupied indicates the probability of occupancy of the respective cell.
  • Where: p busy (x) + p free (x) ≤ 1, (2.1) or more precisely: p busy (x) + p free (x) + p ignorance (x) = 1, (2.2) where x can be a scalar or vector and the location of the area 2a . 2 B or in the present case indicates the cell in the room. In the following, for the sake of simplicity, a scalar position is assumed without restriction of the generality; for example, a mid-range lidar sensor is also used as an example. Furthermore, p ignorance denotes the detection uncertainty. The mid-range lidar sensor 5c is able to allocations of the areas 2a . 2 B to recognize in the form of an object or obstacle detection. The mid-range lidar sensor 5c itself does not provide any information about the free area or the free area 2a within its detection range, ie for immediate measurement of the mid-range lidar sensor 5c p = free = 0. This method now provides a calculation rule with which, with the aid of knowledge of the measuring method, the probability with which the ranges 2a . 2 B within the detection area free, ie passable. It is known in advance how good the detection performance of the mid-range lidar sensor 5c is at a certain location within its detection range. This is achieved by the sensor system-related detection performance p sys (x) with 0 ≤ p sys (x) ≤ 1 described for each location and each cell in the detection region. From equation 2.1 follows immediately the maximum estimate of the information content of a measurement with respect to the open space information: p free (x) ≤ 1 - p busy (X). (2.3)
  • The mid-range lidar sensor 5c is multi-target capable in a single measurement, ie it can be multiple objects 3 be detected immediately by a single measurement. Therefore, the estimation is now made that the free space information contained in a measurement is determined by the objects lying in front of it 3 is reduced:
    Figure 00160001
  • Taking into account the system-related detection power p sys (x) with respect to the detection of open spaces 2a finally follows:
    Figure 00160002
  • 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 102004056120 A1 [0006]

Claims (13)

  1. Driver assistance method for indicating and / or autonomous or semi-autonomous adjustment of a collision-avoiding or collision sequence-reducing driving maneuver of a motor vehicle ( 1 ) based on at least one determined evasion trajectory, in order to 1 ) to avoid an accident, characterized by: - a situation detection step for detecting a current environment situation of the motor vehicle ( 1 ) by means of at least one object detection sensor ( 5 . 5a - 5d ) of the motor vehicle ( 1 ) and / or data of at least one further vehicle system ( 6 . 7 . 8th . 9 . 10 ); A situation evaluation step for determining at least one avoidance trajectory based on the current environment situation of the motor vehicle ( 1 ) and a trajectory prediction for the motor vehicle ( 1 ) and for at least one detected object ( 3 ) in the environment ( 2 ) of the motor vehicle ( 1 ); and an action step for the display and / or autonomous or semi-autonomous adjustment of the driving maneuver based on one of the determined avoidance trajectories.
  2. Driver assistance method according to claim 1, characterized in that the environment situation detected objects ( 3 ) and / or free areas ( 2a ) in the environment ( 2 ) of the motor vehicle ( 1 ) having.
  3. Driver assistance method according to claim 1 or 2, characterized in that an assessment of the criticality the determined avoidance trajectories are performed, the favorable avoidance trajectory for the Driving maneuver is selected.
  4. Driver assistance method according to one of the claims 1, 2 or 3, characterized in that the driving maneuver at least one brake intervention and / or at least one steering intervention having.
  5. Driver assistance method according to one of claims 1 to 4, characterized in that the further vehicle systems of the motor vehicle ( 1 ), a human-machine interface ( 4b ), an engine / driveline controller ( 9 ), a braking system ( 6 ), a steering system ( 10 ), a navigation system ( 7 ) and / or a C2X communication system ( 8th ) are.
  6. Driver assistance method according to one of claims 1 to 5, characterized in that at least one object detection sensor, a radar sensor, in particular long-range radar sensor ( 5a ), Mid range radar sensor, short range radar sensor ( 5d ), a lidar sensor ( 5b . 5c ), an ultrasonic sensor or a video sensor.
  7. Computer program with program code means for carrying out a driver assistance method according to one of Claims 1 to 6, if the program is stored on a microprocessor of a microcomputer, in particular on a control device ( 4a ) of a driver assistance system ( 4 ), is performed.
  8. A computer program product comprising program code means stored on a computer-readable medium for carrying out a driver assistance method according to one of claims 1 to 6, when the program is stored on a microprocessor of a microcomputer, in particular on a control device ( 4a ) of a driver assistance system ( 4 ), is performed.
  9. Device, in particular driver assistance system ( 4 ) of a motor vehicle ( 1 ) for carrying out the driver assistance method according to one of claims 1 to 6, with at least one object detection sensor ( 5 . 5a - 5d ) for the detection of objects or obstacles ( 3 ) in an environment ( 2 ) of the motor vehicle ( 1 ), and a control device ( 4a ) connected to the at least one object detection sensor ( 5 . 5a - 5d ) and at least one further vehicle system ( 6 . 7 ) and which is arranged to execute a computer program according to claim 7, wherein the control device ( 4a ) a situation detection module ( 40 ), a situation assessment module ( 41 ) and an action module ( 42 ) having.
  10. Device according to Claim 9, characterized in that a human-machine interface ( 4b ) is provided.
  11. Apparatus according to claim 9 or 10, characterized in that the further vehicle systems of the motor vehicle ( 1 ), a motor / driveline controller ( 9 ), a braking system ( 6 ), a steering system ( 10 ), a navigation system ( 7 ) and / or a C2X communication system ( 8th ).
  12. Apparatus according to claim 9, 10 or 11, characterized in that at least one object Detek tion sensor a radar sensor, in particular a long-range radar sensor ( 5a ), Mid range radar sensor, short range radar sensor ( 5d ), a lidar sensor ( 5b . 5c ), an ultrasonic sensor or a video sensor.
  13. Device according to one of claims 9 to 12, characterized in that the at least one object detection sensor ( 5 . 5a - 5d ) front, rear or side of the motor vehicle ( 1 ) is arranged.
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WO2011141279A1 (en) * 2010-05-11 2011-11-17 Robert Bosch Gmbh Method for adapting a driver assistance system
DE102010045162A1 (en) * 2010-09-11 2012-03-15 Volkswagen Ag Method for transverse guidance of motor car, involves determining voidance trajectory, where wheel contact with determined pothole is avoided when predicted trajectory of motor car leads to wheel contact with pothole
US20120089294A1 (en) * 2010-10-06 2012-04-12 Meike Fehse Device and method for supporting a driver of a motor vehicle during a driving maneuver
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EP2862767A3 (en) * 2013-10-16 2015-07-15 Audi Ag Method for controlling a motor vehicle and motor vehicle
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EP2881829A2 (en) 2013-12-05 2015-06-10 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Method for automatically controlling a vehicle, device for generating control signals for a vehicle and vehicle
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DE102014207399A1 (en) * 2014-04-17 2015-10-22 Bayerische Motoren Werke Aktiengesellschaft Device and method for coping with accidental situations with living beings
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