DE102009013564A1 - Method for collision outcome prevention or collision outcome reduction for vehicle, involves detecting ambient data, which mark surrounding objects of vehicle - Google Patents

Abstract

The method involves detecting ambient data, which mark the surrounding objects of a vehicle (1). A collision danger of the vehicle with the objects is recognized by the ambient data. The collision danger of an object (3) goes out behind the vehicle. Another object (5) is recognized before the vehicle. The collision danger is eliminated or reduced by a testing whether a sufficient side escape route (17) is present for driving around the latter object.

Description

The The invention relates to a method for collision sequence avoidance or Kollisionsfolgenminderung for a vehicle, with the Steps Capture environmental data that contains objects surrounding the vehicle identify and detect a risk of collision of the vehicle with the objects using the environment data.

Methods for collision avoidance or collision mitigation for a vehicle are known. It is known to detect objects in an environment of the vehicle and to initiate appropriate countermeasures when detecting a risk of collision. For example, steering or braking interventions can serve as countermeasures. The DE 103 36 986 A1 relates to a method for collision avoidance of a vehicle with other objects, in which the environment of the vehicle is constantly detected, the distance to other objects detected and stored and determined from the detected position of the vehicle and the current and stored environment data an imminent collision and by appropriate intervention in the brake and / or steering is prevented. From the DE 10 36 276 A1 An automatic braking and steering system for a vehicle is known. In order to be able to carry out automatic avoidance maneuvers with the greatest possible safety, an evasive route is determined in the event of an obstacle in the route, whereby the strategy for determining the avoidance route is applied again in the event that there is another obstacle in the avoidance route. If a collision-free alternative route can not be found, the route is selected in which the difference between the remaining braking distance and the remaining distance to the obstacle is the lowest.

task The invention is an improved collision avoidance or In particular, to enable collision mitigation to minimize total damage to the vehicle.

The Task is in a method for collision avoidance or Kollisionsfolgenminderung for a vehicle through the steps detecting the risk of collision of Vehicle, with the risk of collision from one behind the vehicle starting from the first object, detecting one in front of the vehicle located second object and eliminate or reduce the Risk of collision by checking whether a sufficient lateral Escape route to bypass the second object is present, solved. Advantageous This also avoids a danger of collision threatening at a rear end or at least reduced.

at An embodiment of the method is an initiation the evasion along the escape route provided. Under Initiate For example, a feedback, preferably a haptic, optical, tactile and / or acoustic, understood by the driver which causes them to drive on the found escape route. Alternatively and / or additionally, however, under initiation also an automatic intervention in a driving dynamics of the vehicle, in particular a longitudinal and a transverse dynamics, understood be done so that the vehicle is automatically placed on the escape route so as to be the impending collision with the approaching from behind To avoid object. The haptic feedback to the driver For example, a small twitch in the steering wheel in the direction of Have escape route. The escape route can, for example, along a clothoid, with corresponding formulas for calculating the Escape route are approachable. Alternative and / or additional However, it is also conceivable, the escape route along a cubic Parable to search, calculate and / or plan. Can drive around in Meaning of driving around or passing by.

at Another embodiment of the method is a Determine if there is a third object in the escape route and initiating a target braking on the third object. In case there is a third object in the escape route, would threaten with this a collision, namely at a front of the vehicle. Such situations are particular possible in dense traffic, suddenly through an event, such as a single accident, comes to a standstill so that all subsequent vehicles also come to a standstill which threatens a high risk of collision. Advantageous can by means of the target braking an automatic intervention in the Longitudinal dynamics of the motor vehicle are such that For example, a predetermined or predeterminable distance to the target braking to the third object still remains, respected can be. Advantageously, thereby the necessary delay of the vehicle to be kept as low as possible the best possible steering ability, ie a maximum Lateral acceleration and / or a minimum risk of skidding, wherein occurring slip angles are minimized to achieve. Advantageous This way, the escape route can be traveled as safely as possible. Furthermore, for the first object, a maximum braking distance to provide.

In a further embodiment of the method, a check is provided as to whether the risk of collision with the first object and the second object or with the first object and the third object is unavoidable and initiation of compensation braking, by means of which the resulting total collision sequences can be minimized, is provided. In this case, if equally a front collision and a Rear collision of the vehicle with the other objects is unavoidable, still advantageous overall damage can be minimized. It is conceivable, for example, to keep the speeds both at the vehicle front and at the rear of the vehicle which would each occur in the expected collision below a minimum value, for example below a value of a repair crash, for example of approximately 30 km / h. Alternatively and / or additionally, however, it is also conceivable to set vehicle-specific for the vehicle front and the rear of the vehicle a maximum speed, which should not be exceeded in the specially deformable crash elements, which are inexpensive to repair and / or easily replace, damage, but none further serious damage to the vehicle are to be expected, for example permanent deformation of frames and / or components acting on chassis parts. Advantageously, it is also possible to calculate which collision will take place first. It is conceivable, for example, to provide that initially a rear impact takes place, it being advantageously possible to include a speed increase taking place in such a way that nevertheless a balanced or minimal damage pattern results at the front and rear of the vehicle. Alternatively and / or additionally, it is conceivable, for certain situations, to adapt the speed of the vehicle so that initially a front impact takes place in which the safety systems, in particular airbags, trigger, so that the rear-end collision only takes place when the vehicle is with the front has wedged object lying on the vehicle. As a result, an increased mass is available for the rear crash impact, so that any imminent risk of injury, ie resulting accelerations for the occupants, can be reduced. This strategy may be useful especially at higher impact energies. In this case, with regard to a possible risk of injury, that is not necessarily with regard to a material damage occurring on the motor vehicle, be optimized.

The Task is also equipped with a motor vehicle, set up designed and / or designed to perform an advance solved described method. It results in the advance described advantages.

Further Advantages, features and details emerge from the following Description, in reference to the drawing, an embodiment is described in detail. Same, similar and / or functionally identical parts are provided with the same reference numerals. Show it:

1 a schematic view of a driving situation of a vehicle that runs to avoid collision with a subsequent object an escape route;

2 in the 1 illustrated schematic situation, which has occurred on the vehicle after driving the escape route, a frontal impact and a rear impact;

3 in the 1 illustrated situation, however, the vehicle could not drive an escape route and a frontal impact and a rear impact occurred.

1 shows a schematic representation of a driving situation of a vehicle 1 which is a first object 3 follows. In front of the vehicle 1 the vehicle situation has a second object 5 as well as obliquely offset in front of the second object 5 a third object 7 on. In the case of the vehicle 1 surrounding objects 3 to 7 For example, these may be other vehicles that co-operate with the vehicle 1 in a direction of travel, in the presentation of the 1 and the other figures from top to bottom, act. However, it is also conceivable that it is in front of the vehicle 1 lying objects 5 and 7 It deals with stationary objects, such as fixed obstacles or vehicles that have already come to a standstill. The vehicle as well as the objects 3 to 7 drive on a carriageway 9 , which is only partially shown and a first lane 11 and at least one more second lane 13 having.

In the in 1 shown driving situation has the first object 3 such a high speed on, that a collision at a tail 15 of the vehicle 1 with the first object 3 threatening. The speed of the second object 5 is less than that of the vehicle 1 , so a necessary braking on the second object 5 would increase the risk of collision. This risk of collision can be detected by means of in 1 not shown sensors of the vehicle 1 be determined. In addition, by means of the sensors the objects 3 to 7 be recorded. It is possible, both their location, in particular their absolute position or their relative position to the vehicle 1 as well as their driving condition, for example, to determine speeds and / or accelerations. It is conceivable that the sensor device comprises Lida sensors, radar sensors, ultrasonic sensors, in particular any sensors based on electromagnetic waves and / or a reflection principle. Alternatively and / or additionally, it is conceivable that the objects 3 to 7 be detected by means of a so-called vehicle-to-vehicle communication, for example by transmitting the respective state and / or location of the objects 3 to 7 to the vehicle 1 where each of the objects 3 to 7 determines its condition and / or its location itself and communicates according to the other road users. It is further conceivable that, for example, the vehicle 1 or a corresponding metallic outer skin or metallized outer skin of the vehicle 1 serves as an antenna. With a corresponding wiring, it is conceivable that by means of such an antenna directions of incoming signals of other vehicles, ie the objects 3 to 7 can be determined. Furthermore, it is conceivable that both the vehicle 1 as well as the other objects 3 to 7 each have precise timers and / or systems for determining an exact time, for example by means of radio reception. It is possible that signals together with an exact dispatch time are made available to the other road users in a corresponding time cycle, for example of a few ms. Advantageously, it is possible that the vehicle 1 receives these signals, determines their directions and corresponding runtime differences calculated by means of their own system time and the sender time appended to the signals, so as to accurately detect position, speed and / or acceleration of the other objects 3 to 7 to enable. Changes, in particular accelerations and / or speeds of the objects 3 to 7 can be done by multiple acquisitions.

If the previously described risk of collision of the object 3 with the vehicle 1 is detected, can be an escape route 17 be determined at the front of the vehicle 1 located second object 5 passes, for example on the second lane 13 , It is also conceivable that the escape route leads to a hard shoulder or a banquet. Driving on the escape route 17 is in 1 by means of a dotted silhouette of the vehicle 1 shown. The dotted silhouette, for example, a state of the vehicle 1 represent, in which this obliquely behind the second object 5 and even before the third object 7 has come to a halt. For this case could be advantageous the collision with the first object 3 be avoided because this has a longer braking distance available and possibly only with the second object 5 collides, so not with the vehicle 1 even.

Driving on the escape route 17 can be initiated by appropriate measures, for example by an automatic intervention in a lateral dynamics of the vehicle 1 , In particular a steering and / or by appropriate instructions to the driver, such as haptic instructions, in particular a short twitch in a steering wheel of the vehicle 1 in the direction of the escape route 17 , so in 1 towards a left side of the vehicle 1 ,

It is also conceivable that when driving the escape route 17 an automated intervention in a longitudinal dynamics of the vehicle 1 , in particular a brake system, takes place, with a target braking on the third object 7 takes place, leaving the vehicle 1 with a predetermined and / or predeterminable distance before the third object 7 comes to stand in what is 1 indicated by the dotted silhouette.

2 essentially shows the in 1 shown driving situation of the vehicle 1 , In difference are the relative speeds of the vehicle 1 as well as the objects 3 and 7 so serious that despite driving the escape route 17 a collision at the stern 15 as well as on a front 19 of the vehicle 1 could not be avoided. In 2 the situation is shown after two collisions, it being assumed that also the vehicle 1 subsequent first object 3 the same escape route 17 travels to thereby collide with the second object 5 to avoid overall to reduce the collision consequences.

In this case can advantageously in the driving dynamics of the vehicle 1 intervene that both the damage to the tail 15 of the vehicle 1 , caused by a collision with the first object 3 as well as a damage on the front 19 of the vehicle 1 caused by a collision of the vehicle 1 with the third object 7 be minimized overall.

3 shows a driving situation of the vehicle 1 analogous to the representations of 1 and 2 ,

The difference is the third object 7 diagonally behind the second object 5 so that this in the 1 and 2 marked escape route 17 blocked. For this case, at least it can be recognized that there is no cheap escape route 17 there and a collision at the stern 15 and the front 19 of the vehicle 1 are unavoidable. For this case, too, the 2 described interventions in the dynamics of the vehicle 1 , in particular by braking, so that also an overall sequence of collisions is minimal.

A collision with the vehicle 1 subsequent first object 3 Basically, too, could be by speeding up the vehicle 1 be avoided. As in the 1 to 3 However, there are situations in which this option does not exist because the second object 5 in front of the vehicle 1 or optionally along the escape route 17 for example, the third object 7 are located. At the second object 5 it may be, for example, a slow or slow moving other vehicle or a stationary obstacle. In spite of this situation, it can be advantageously examined in such a case whether the sufficient number of pages has been checked es escape route 17 to bypass the second object 5 is available. There, like in the 1 to 3 shown, in addition one from a rear area of the vehicle 1 impending collision with the first object 3 is present, can be advantageous to the driver of the vehicle 1 via the steering wheel a haptic steering advice to dodge along the recognized escape route 17 are given. If in addition, as in 2 shown in the escape route 17 a stationary or moving obstacle, for example in the form of the third object 7 , In addition, the target braking is automatically initiated to delay the own vehicle so far that a predetermined or predeterminable safety distance to the obstacle, so the third object 7 can be respected in what 1 is indicated by the dotted marked silhouette. In unavoidable rear and front collision, the vehicle 1 slowed down so that the resulting from the front and rear collision collision sequences are as small as possible, which in the 2 and 3 is shown.

To determine the escape route 17 For example, it can be determined whether to the left or right of the vehicle 1 and / or the second object 5 There are gaps in the vehicle 1 could be safely steered.

1

vehicle

3

first object

5

second object

7

third object

9

roadway

11

first lane

13

second lane

15

Rear

17

escape route

19

front

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 10336986 A1 [0002]
• - DE 1036276 A1 [0002]

Claims (5)

Method for collision sequence avoidance or collision following reduction for a vehicle ( 1 ), comprising the steps: - detecting environmental data that identify objects surrounding the vehicle, - detecting a risk of collision of the vehicle with the objects by means of the environmental data, characterized by the steps: - Detecting the risk of collision of the vehicle ( 1 ), whereby the risk of collision from one behind the vehicle ( 1 ) first object ( 3 ), - detecting one in front of the vehicle ( 1 ) second object ( 5 ), - Eliminate or reduce the risk of collision by checking whether a sufficient lateral escape route ( 17 ) for bypassing the second object ( 5 ) is available. Method according to the preceding claim, comprising the step: - initiating a dodge along the escape route ( 17 ). Method according to one of the preceding claims, comprising the steps of: - determining whether in the escape route ( 17 ) a third object ( 7 ), - initiating a target braking on the third object ( 7 ). Method according to the preceding claim, comprising the steps of: - checking whether the risk of collision with the first object ( 3 ) and the second object ( 5 ) or with the first object ( 3 ) and the third object ( 7 ) is unavoidable, - initiating a compensation braking, by means of the overall resulting collision consequences, in particular at a tail ( 15 ) and a front ( 19 ), of the vehicle ( 1 ) are minimizable. Motor vehicle ( 1 ), designed, constructed and / or constructed for carrying out a method according to any one of the preceding claims.