DE102009041555A1 - Method for warning driver of vehicle i.e. lorry, before object, involves determining driving path, when stationary object is detected in monitored surrounding area, and warning driver, when stationary object is located in driving path - Google Patents

Abstract

The method involves monitoring a surrounding area of a vehicle (10) i.e. lorry, and warning a driver of the vehicle, when a movable object is detected in the monitored surrounding area. A driving path is determined, when a stationary object is detected in the monitored surrounding area. The driver is warned, when the stationary object is located in the driving path. The driving path is determined as a steering angle, a wheel rotational speed and/or an indicator signal of the vehicle, where the driving path has a minimum turning curve of a trailer or a semitrailer of the vehicle. An independent claim is also included for a device for warning a driver before an object.

Description

The The present invention relates to a method for alerting a vehicle driver in front of an object by monitoring a surrounding area of a vehicle. In addition, the present concerns Invention also a corresponding device for warning when in an object is detected in the surrounding area.

Lots Vehicle manufacturers today offer surveillance systems on, which observe the immediate environment of the vehicle. One of the most famous ultrasound-based Systems is - primarily in the passenger car sector - the so-called parking assistant or parktronic system. This works with a total of ten ultrasonic sensors, the front and back of the Vehicle are attached.

MAN has developed an ultrasound-based start-up warning system for the truck sector, which is described, for example, in the publication DE 10 2006 002 232 A1 is described. This system covers the front corner of the cab with about 10 sensors. However, it works only in the state and gives a warning only when falling below a previously stored reference distance when starting. Thus, this system has serious drawbacks in terms of the overall benefit, since the detection area is strongly focused on a small area adjacent to the car, and further, warning is given only when starting from a standstill. Furthermore, this system allows due to the sensor arrangement no blind spot monitoring next to the vehicle.

Furthermore, the document discloses DE 10 2006 007 173 A1 a vehicle surroundings detection system for detecting objects arriving laterally on the vehicle. A blind spot radar sensor detects a blind spot area laterally adjacent to the vehicle. This overlaps with the detection range of a front radar sensor.

Furthermore, the document describes DE 296 17 413 U1 a monitoring device for hard or hidden areas around motor vehicles. A sensor and a warning display of the monitoring device work only in a speed range between vehicle standstill and a predetermined limit speed.

All in all would be a warning concept, for example, on a blind spot assistant based on ultrasonic sensors, desirable for a truck, which also warns of standing obstacles. It must be avoided, however be too frequent in front of the sensors detected objects warned in order not to reduce the acceptance of the system by the driver.

The Object of the present invention is thus, the lateral To better monitor the environment of a vehicle.

According to the invention this object by a method according to claim 1 and an apparatus according to Claim 7 solved. Inventive developments emerge from the dependent claims.

• – Überwachen eines Umgebungsbereichs eines Fahrzeugs,
• – unbedingtes Warnen des Fahrzeugführers, wenn in dem überwachten Umgebungsbereich ein bewegtes Objekt erfasst wird, und
• – Ermitteln eines Fahrkorridors, wenn in dem überwachten Umgebungsbereich ein stationäres Objekt erfasst wird, und
• – Warnen des Fahrzeugführers, wenn sich das stationäre Objekt im Fahrkorridor befindet.

It is therefore provided a method for warning a driver in front of an object

• Monitoring a surrounding area of a vehicle,
• - unconditional warning of the driver when a moving object is detected in the monitored environment, and
• Determining a travel corridor if a stationary object is detected in the monitored environment area, and
• - Warning the driver when the stationary object is in the driving corridor.

• – einer Überwachungseinrichtung zum Überwachen eines Umgebungsbereichs eines Fahrzeugs und
• – einer Warneinrichtung zum Warnen des Fahrzeugführers, wenn von der Überwachungseinrichtung in dem Umgebungsbereich ein Objekt erfasst wird, wobei
• – an die Warneinrichtung eine Recheneinrichtung angeschlossen ist zum Ermitteln eines Fahrkorridors, wenn in dem Umgebungsbereich ein stationäres Objekt erfasst wird, und
• – die Warneinrichtung ausgebildet ist zum unbedingten Warnen des Fahrzeugführers, wenn in dem Überwachungsbereich ein bewegtes Objekt erfasst wird, und zum
• – Warnen des Fahrzeugführers, wenn sich das stationäre Objekt im Fahrkorridor befindet.

Further provided is a device for warning a driver in front of an object

• A monitoring device for monitoring a surrounding area of a vehicle and
• A warning device for warning the vehicle driver when an object is detected by the monitoring device in the surrounding area, wherein
• - A computing device is connected to the warning device for determining a driving corridor when a stationary object is detected in the surrounding area, and
• - The warning device is designed for unconditional warning of the driver when in the surveillance area a moving object is detected, and the
• - Warning the driver when the stationary object is in the driving corridor.

Preferably a warning is given in front of the stationary object even then if there is a given distance between the travel corridor and the stationary object Safety distance is fallen below. The driving corridor can be, for example from a steering angle, a wheel speed and / or a turn signal be determined of the vehicle. It is also favorable if the travel corridor is a trailer or a towing curve Trailer of the vehicle includes. Furthermore, the surrounding area comprise a blind spot area of the vehicle, which represents a room, the despite rear view mirror from the driver not can be viewed. Furthermore, the warning may depend on of other vehicle signals (eg for turning, starting, Lane change and the like).

Regarding the device according to the invention it is favorable if the monitoring device has sensors that along the front and a single longitudinal side of the Vehicle are arranged distributed. In addition, the warning device have a segmented display, wherein the segments are different Represent warning levels. Finally it is advantageous when such a device for warning in a vehicle is integrated.

The The present invention will now be described with reference to the accompanying drawings explained in more detail, in which show:

1 Sensor positions on the vehicle;

2 a sketch of the summation of the sensor distances;

3 a dynamic range limitation;

4 and 5 a raster formation for determining the position of an object with ultrasonic sensors;

6 a sketch of the relationship between distance, driver's request, criticality and warning level;

7 a warning concept for front monitoring during start-up;

8th and 9 a raster formation for determining the position of an object with ultrasonic sensors;

10 and 11 Sketches for determining the relative position of an object;

12 to 14 Sketches illustrating the position of an object in a mirror and

15 a turning situation of a semitrailer.

The Below detailed embodiments represent preferred embodiments of the present invention represents.

In A concrete example is a vehicle with an ultrasound-based System be equipped, both the front and the side Vehicle area monitored. The lateral environment recognition should run in the entire speed range, causing next Turn off the turn also one out Blind spot monitoring can be done. Using the along the Front mounted sensors should be warned of objects, at the time of starting in the danger zone of the vehicle are located. The danger area front is not by the driver defined area. This usually consists in one Distance of 2 m around the vehicle.

The ultrasonic sensors are according to 1 at the vehicle 10 so attached, that the detection areas 11 cover the entire area from the left front vehicle corner to the right to the rear axle. The vehicle 10 here represents the towing vehicle of a semitrailer. The vehicle 10 is controlled on the left so that a so-called blind spot results on the right side. For right-hand-drive vehicles, the sensors are located on the left-hand side (passenger side) of the vehicle 10 ,

For blind spot monitoring, sensors with a horizontal opening angle (FOV) of 60 ° are suitable. Under these conditions, for example, twelve sensors are enough to cover the surveillance area. 1 shows the possible arrangement of the sensors and the coarse detection area 11 ,

Ultrasonic sensors detect the echoes reflected back from the object in the detection area, from which the distance can be calculated depending on the speed of sound and the transit time of the transmitted signal until the echo is received. The reflection property of the objects determines the stability of the received signals and thus also the constancy of the determined distances. A diffused object generates a weak signal that is unstable in the distance statement, which normally results in the need to increase the cycle time for distance measurement. In order to obtain a stable distance indication without increasing the cycle time, the sensor signals should be in accordance with 2 be subjected to a sliding summation. It is based on the fact that an object covers several sensors and thus several sensors simultaneously provide a statement. 2 shows at the front of the vehicle 10 and on the passenger side of the vehicle 10 six sensors each (small box symbols) with the numbers 1 to 6 are designated. The sensors on the passenger side extend over almost the entire length of the vehicle 10 and in particular with its detection range to the rear axle of the vehicle. The sliding connection of the sensors is that their signals are summed in pairs. In particular, the signals of adjacent sensors become the sensor signals 1' . 2 ' ... 6 ' summarized. Such a sliding summation of the sensor pitches can improve the stability of the distance output without increasing the cycle time.

In a further developed embodiment is a speed-dependent range limitation provided. Because the system not only assist in turning, but It is also necessary to monitor the blind spot area Specify warning areas next to the vehicle. An ultrasonic sensor typically has an effective range of about 2.5 m. These Range must be both for the turn / start assist as well as be configured for the blind spot assist function, so that the driver is always informed, if possible Little is bothered by continuous audible warning. The addressed speed-dependent, dynamic range limitation. To the driver always possible give an optimal statement about the environment of the vehicle To be able to, for example, a three-stage optical Warning coupled with dynamic range limitation. The last stage of the cascade cascades the activation of an acoustic Tongebers, which should make attentive to impending collisions.

Possible warning ranges and the function of dynamic range limitation are in 3 shown. In the range limitation, two areas are distinguished here. Below a speed of 10 km / h (the limit can also be chosen differently) a turn-off assistant is defined here and above this speed limit a blind spot assistant. In a first warning range defined by a speed-dependent distance function I (outer detection area), for example, a yellow warning signal is output. In a second warning area II (Middle detection area), for example, an orange warning signal is output and in a third warning area III For example, a red warning signal is output. The ranges of the individual warning areas I to III are speed dependent. The warning area I reaches standstill up to a distance of 2.5 m. At a speed of 10 km / h, the range is only 2.0 m. For the blind spot assistant, ie above a speed of 10 km / h, this is the range of the warning area I kept constant. On the other hand, the ranges of warning areas are decreasing II and III linear with increasing speed regardless of the speed limit separating the turn assistant from the blind spot assistant. The ranges of the various warning zones can thus be realized dynamically with different functions (in the entire speed range or from warning range to warning range).

An exemplary warning concept includes the dynamic range limitation described above and the detection of the driver's request regarding turning, starting and lane change over various vehicle parameters. An optical / acoustic warning should only be triggered in combination with an object in the danger zone with a detected driver request. Also in 3 shown range limitation is divided into two functionally separate areas. Below 10 km / h, the range of the sensors is the largest. Experience has shown that the turning process takes place in this speed range. Even the starting process - it does not matter whether the driver wants to turn or not - for the front monitoring is covered here, but the effective warning concepts for the turn-off and pure starting process differ significantly without turning request.

The warning concept in the stand sees a distinction between moving objects 12 and stationary objects 13 before (cf. 4 and 5 ). This is done according to the following equation by adding up all the lateral distance values.

When the vehicle is at a standstill 10 the sum of all detected distances (X1 to X6) is determined and stored. Is only a stationary object 13 according to 4 within the range of the sensors, the determined distance remains constant. Drives according to 5 an object 12 into the warning area, the sum of the distances X1 to X6 changes, which is to be interpreted as an indication of a moving object.

To detect if a moving object 12 entered the detection area, the following condition must be met:

In combination of distance, direction request and approach request can be depending on the criticality in three stages be warned ( 6 ). The criticality increases in the with arrow 14 indicated direction. The warning level is output optically or acoustically as a function of distance, driver request and criticality. In this case, a segmented display integrated, for example, in the instrument cluster 15 (Vehicle icon with surveillance area) or a general display 16 (eg triangle) can be used. If, as in 6 is shown above, no object is within reach of the sensors or the Totwinkelassistzeinrichtung, there is a non-critical situation and the warning instruments 15 . 16 give a signal.

In the event that an object is within range of the sensors, but his distance is greater than 2 m and no direction request is voiced by the driver, the warning device or Report warning message informative. This situation corresponds to the second symbolism from above in 6 , The triangle 16 for example, yellow or the outer segments of the segmented display 15 shine yellow.

The criticality of a situation continues to increase when the object is within range of the sensors and the distance in the warning area II (see. 3 ), but no direction of travel is indicated by the driver. The same criticality, which requires increased attention, is achieved when the distance of the object to the vehicle is more than 2 m, but a direction change is indicated or determined. In this case, according to the third diagram from above in 6 for example, in addition to the yellow outer segments and the middle segments of the segmented display 15 orange. Alternatively, the triangle display 16 for example, light orange and show an exclamation mark.

The most critical case where there is an immediate risk of accident is when the object is within range of the sensors and within the warning range III (see. 3 ), a direction desire is indicated or determined and there is a start. In this case, the triangle indicator lights up 16 red or the segmented display 15 also shines red in its innermost area. If necessary, an additional acoustic warning signal can be reproduced.

As a general rule applies to the blind spot monitoring in the state that the red warning with acoustic tone only when closer Objects with desire to change direction and approach is issued. The first optical display stage is just one Information that an object is in the surveillance area the sensors is located.

When starting, the front of the vehicle is also monitored, which is in 7 is indicated. If there is an object in this area whose range is adapted to the non-visible area (about 2 m distance), an optical display (eg yellow or orange) becomes visible depending on the criticality (ie proximity to the vehicle). Will the vehicle start, the actual warning is issued in the form of an optical / acoustic display. The warning concept can be used with the segmented display 15 that already from the example of 6 is known, or for example with another triangle display 17 (possibly also with the same triangle 16 ) are implemented. In the example of 7 For example, a triangle on the top is used for the front monitor. The display used in each case can also be integrated here in an instrument cluster. The warning levels are analogous to the example of 6 , where the object is here in a blind spot in front of the vehicle.

additionally to the start warning front can in shunting the distances - similar as in the Parktronik in the car - are displayed. When falling below a defined minimum distance becomes an optical / acoustic Warning issued. The display of the distances can be over a conventional LED display or in the instrument cluster through Representation of the smallest distance to the object done.

When driving, the sliding individual distances (cf. 2 ). In doing so, the in 3 speed-dependent distances used to assess the criticality and trigger the visual displays. An audible warning is issued only when a change of direction has been detected and at the same time an object has been detected very close to the vehicle. Turning direction change may be a set flashing signal in a simple embodiment, in an advanced embodiment, the vehicle movement in the lane direction or the predicted estimated vehicle movement direction derived from the steering wheel angle and yaw rate information, or a combination thereof. Another characteristic of the lateral space monitoring is the support for lane change or (re) threading in the right lane.

Another form of the system may be that a relative position of the object relative to the vehicle is roughly determined. It is, as in the 8th and 9 is shown, a grid placed over the sensor detection areas. For example, two resolution variants can be defined for this purpose. In the example of 8th only two different lateral spacing areas A and B are defined, whereas in the example of FIG 9 four different lateral distance ranges A to D are defined. With six sensors in the longitudinal direction, this results in seven different longitudinal detection ranges, ranging from the front to the rear axle. The two (possibly more) variants of 8th and 9 can be combined with each other depending on the determined criticality. The closer an object is, the more interesting is the position that is as exact as possible.

Is an object lying 12 according to 10 in the range of the rearmost sensor, so this generates a corresponding echo, which can be assigned depending on the distance (X6) and the distance feedback from the other sensors at least a coarse (or finer) grid. In the example of 10 becomes the object 12 assigned to grid B7. Drives the object 12 according to 11 Further, additional sensors provide corresponding distance signals X4, X5 and X6. This will do that Object associated with additional grids B5, B6 and B7. These rasters are passed to the warning device or the warning algorithm as object positions.

A further feature of the system - besides the warning and the distance - may be that the detected position of the object is effectively displayed either in a low cost LED display or in another suitable display medium. This may preferably be an outside mirror or a combination instrument. The 12 to 14 show a possible embodiment. According to 12 is the object 12 in the furthest outer detection grid. This is in the outside mirror 18 indicated by seven LEDs arranged one behind the other 19 the last one shines. Is the object located? 12 according to 13 in the last three grids, so will this with the LED series 19 indicated by a lighting of the last three LEDs. Drives the object 12 continue and is now in the grids 3 and 4 , the third and fourth LEDs in the exterior mirror will light up accordingly 18 , The proximity of the object 12 to the vehicle 10 may possibly be indicated by a characteristic warning color. With the help of the coarse object position, the previous warning concept can be refined and used purposefully.

The limited previous use of ultrasonic sensors only assisting with parking. By the side However, arrangement of the sensors can now be a blind spot assistant realize. The system can turn off both from the Stand as well as while driving support Afford. Another characteristic of the system is blind spot monitoring right next to the vehicle in the entire speed range. from that results in a certain lane change assistance during threading in the right lane. In addition, the system warns - like was shown - when approaching objects that are directly in front of the vehicle in the area not visible to the driver. A further development could be that an automatic active intervention in dangerous situations, whereby in case of imminent collision z. B. triggered the brake or stopping so long until the object has moved out of the danger zone. Furthermore, with the help of the front sensors a kind of maneuvering aid be realized with distance input.

Of Further, the system can provide a coarse locatable locator offer the objects, which can refine the warning concept.

15 shows a turn-off situation in which the inventive device or the inventive method for warning a driver in front of an object can be advantageously applied. A semi-trailer with a tractor 20 and a trailer 21 want on a street corner 22 turn right. At the street corner 22 there is a stationary object 23 , Would the towing vehicle perform the turn corresponding to curve Z, so would result for the trailer 21 a trailing curve S. The trailing curve S runs over the stationary object 23 so that the semitrailer with its semi-trailer 21 would override or approach the stationary object. This is to be avoided with a suitable warning device or a suitable warning method, because the driver is not able, from his driver's seat from the entire driving corridor of the tractor 20 and the trailer 21 to monitor.

In the present example, due to the direction signal 24 (Blinker set) the monitoring device or a separate computing device of the semitrailer activated to the effect that it calculates the driving corridor of the semi-trailer and the driver here in front of the stationary object 23 warns. He will therefore be the tractor 20 steer on a curve Z ', so that the resulting trailing curve S' around the street corner 22 leads around. If appropriate, a suitable setpoint curve (Z ') is automatically proposed to the driver or the tractor when the road situation is detected, the travel corridor of the semitrailer 21 is taken into account.

When driving and standing by the monitoring device of the vehicle both stationary (stationary) and moving (moving) objects are recorded. Moving objects that are close to the vehicle are always warned. A warning of stationary objects only takes place if these objects are located in the vehicle's travel corridor, including a trailer or trailer drag curve. For this purpose, a warning system according to 3 be configured. However, the warning should not only take place when the stationary object is located directly in the driving corridor, but already when a safe distance between the stationary object and a vehicle part is reached. As a result, the travel corridor or the stationary object fictively increases.

For A sufficient warning must be a future driving corridor to be appreciated. The above-mentioned driving corridors are such estimated areas. A driving corridor leaves For example, from the steering angle, wheel speeds and / or (z. B. at traffic lights) from a turn signal estimate.

With The system according to the invention can be accidents Significantly reduce truck traffic in their blind spots.

That just related to 15 described warning concept can be with all aspects of the monitoring described above combine systems.

I, II, II

warning areas

1, 2, 3, 4, 5, 6

sensors

1', 2 ', 3', 4 ', 5', 6 '

sensor signals

10

vehicle

11

detection range

12

moving object

13 23

stationary object

14

arrow

15 16, 17

Show

18

Mirrors

19

LED

20

tractor

21

semitrailer

22

Street corner

24

Turn signal

A, B, C, D

distance ranges

S, S '

swept path

X1, X2, X3, X4, X5, X6

distances

Z, Z '

Curve the tractor

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 102006002232 A1 [0003]
• DE 102006007173 A1 [0004]
• - DE 29617413 U1 [0005]

Claims (10)

Method for warning a driver of an object ( 12 . 13 . 23 by monitoring a surrounding area of a vehicle ( 10 . 20 . 21 ), characterized by - the driver being warned unconditionally if, in the monitored environment, a moving object ( 12 ), and - determining a travel corridor if a stationary object (in the monitored environmental area) 13 . 23 ), and - warning the driver when the stationary object ( 13 . 23 ) is located in the driving corridor. A method according to claim 1, characterized in that a warning in front of the stationary object ( 13 . 23 ) even if between the travel corridor and the stationary object ( 13 . 23 ) falls below a predetermined safety distance. A method according to claim 1 or 2, characterized in that the driving corridor of a steering angle, a wheel speed and / or a turn signal of the vehicle ( 10 . 20 . 21 ) is determined. Method according to one of the preceding claims, characterized in that the driving corridor a towing curve (S, S ') of a trailer or semi-trailer ( 21 ) of the vehicle. Method according to one of the preceding claims, characterized in that the surrounding area comprises a blind spot area of the vehicle ( 10 . 20 . 21 ). Method according to one of the preceding claims, characterized in that the warning depending carried by other vehicle signals. Device for warning a driver in front of an object with - a monitoring device ( 1 to 6 ) for monitoring a surrounding area of a vehicle ( 10 . 20 . 21 ) and - a warning device ( 15 . 16 . 17 ) for warning the driver when the monitoring device ( 1 to 6 ) in the surrounding area an object is detected, characterized in that - to the warning device ( 15 . 16 . 17 ) a computing device is connected for determining a travel corridor, if in the surrounding area a stationary object ( 13 . 23 ) is detected, and - the warning device is designed to unconditionally warn the driver when in the monitoring area a moving object ( 12 ) and - warning the vehicle driver when the stationary object ( 13 . 23 ) is located in the driving corridor. Apparatus according to claim 7, characterized in that the monitoring device ( 1 to 6 ) Has sensors arranged along the front and a single longitudinal side of the vehicle ( 10 . 20 . 21 ) are arranged distributed. Apparatus according to claim 7 or 8, characterized in that the warning device ( 15 . 16 . 17 ) has a segmented display, wherein the segments represent different warning levels. Vehicle into which a device according to one of preceding claims is integrated.