DE102011106320A1 - Method for preventing collision of force-driving train, involves detecting risk of collision when speed of preceding vehicle is decreased and speed of ego-vehicle is increased, and introducing measure for collision prevention - Google Patents

Method for preventing collision of force-driving train, involves detecting risk of collision when speed of preceding vehicle is decreased and speed of ego-vehicle is increased, and introducing measure for collision prevention Download PDF

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DE102011106320A1
DE102011106320A1 DE102011106320A DE102011106320A DE102011106320A1 DE 102011106320 A1 DE102011106320 A1 DE 102011106320A1 DE 102011106320 A DE102011106320 A DE 102011106320A DE 102011106320 A DE102011106320 A DE 102011106320A DE 102011106320 A1 DE102011106320 A1 DE 102011106320A1
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vehicle
speed
collision
ego
detecting
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Galin Bobev
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Continental Teves AG and Co OHG
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Continental Teves AG and Co OHG
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
    • B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Abstract

The method involves determining relative speed of a preceding vehicle before traffic light. A risk of collision is detected when the speed of the preceding vehicle is decreased and speed of an ego-vehicle is increased. A measure for collision prevention is introduced during the risk of collision, where the measure comprises prevention of additional acceleration of the ego-vehicle and preparation of a braking. The collision is prevented if the speed of the ego-vehicle is smaller than a predetermined threshold. An independent claim is also included for a device for preventing collision of a force-driving train.

Description

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Vermeidung von Kollisionen vor einer Ampel.The invention relates to a method and a device for avoiding collisions in front of a traffic light.

Fahrzeuge mit einer Abstandswarnvorrichtung sind seit einigen Jahren kommerziell erhältlich. Das Fahrzeug ist i. d. R. mit einem Umfelderfassungssensor, der z. B. als Radar-, Lidar- oder Kamerasensor ausgebildet ist, ausgestattet. Anhand der Sensordaten wird der Abstand zum vorausfahrenden Fahrzeug ermittelt und bei Unterschreitung eines Sicherheitsabstands eine Warnung ausgegeben.Vehicles with a distance warning device have been commercially available for several years. The vehicle is i. d. R. with an environment detection sensor, the z. B. is designed as a radar, Lidar- or camera sensor equipped. Based on the sensor data, the distance to the vehicle in front is determined and a warning is issued when a safety distance is undershot.

Dieses System kann in einer Verkehrssituation vor einer Ampel unzureichend sein, wenn z. B. bei einem Wechsel der Ampelphase von grün auf gelb ein vorausfahrendes Fahrzeug plötzlich bremst, wohingegen der Fahrer des nachfolgenden Fahrzeugs stark beschleunigt, um die Ampel noch vor der Rotphase passieren zu können. Für diese Situation sind eine große Relativgeschwindigkeit und ein kleiner Abstand typisch. Ein Verfahren zur Abstandswarnung könnte bei einem geringen Abstand warnen, ggf. reicht aber aufgrund der hohen Relativgeschwindigkeiten die Zeit nach der Warnung nicht mehr für eine sichere Bremsung aus.This system may be insufficient in a traffic situation in front of a traffic light when z. B. when changing the traffic light phase from green to yellow, a vehicle in front suddenly brakes, whereas the driver of the following vehicle accelerated sharply in order to pass the traffic light before the red phase can. For this situation, a large relative speed and a small distance are typical. A method for distance warning could warn at a small distance, but may not be enough for safe braking due to the high relative speeds, the time after the warning.

Es ist Aufgabe der Erfindung ein Verfahren und eine Vorrichtung zur Unterstützung eines Fahrers in einer Ampelsituation abzugeben.It is an object of the invention to provide a method and a device for assisting a driver in a traffic light situation.

Die Aufgabe wird mit einer Vorrichtung und einem Verfahren gemäß der unabhängigen Ansprüche gelöst.The object is achieved with a device and a method according to the independent claims.

Das erfindungsgemäße Verfahren sieht vor, dass die Geschwindigkeit des Egofahrzeugs, vorausfahrende Fahrzeuge und Ampeln erfasst werden. Zudem wird zumindest vor einer Ampel die Geschwindigkeit oder Relativgeschwindigkeit des vorausfahrenden Fahrzeugs bestimmt. Bei Kollisionsgefahr wird eine Maßnahme zur Kollisionsvermeidung eingeleitet. Es wird eine Kollisionsgefahr erkannt, wenn die Geschwindigkeit des vorausfahrenden Fahrzeugs abnimmt und die Geschwindigkeit des Egofahrzeugs zunimmt.The method according to the invention provides that the speed of the ego vehicle, preceding vehicles and traffic lights are detected. In addition, the speed or relative speed of the preceding vehicle is determined at least in front of a traffic light. If there is a risk of collision, a measure to avoid collisions is initiated. A risk of collision is detected when the speed of the vehicle in front decreases and the speed of the ego vehicle increases.

Insbesondere ist die Maßnahme zur Kollisionvermeidung als eine oder als eine Kombination der folgenden Maßnahmen ausgestaltet

  • – optische, haptische oder akustische Warnung,
  • – Unterbinden einer weiteren Beschleunigung des Egofahrzeugs
  • – Vorbereitung einer Bremsung, z. B. durch Aufbau eines Bremsdrucks (Prefill der Bremse).
In particular, the measure for collision avoidance is configured as one or as a combination of the following measures
  • - visual, haptic or audible warning,
  • - Prevent further acceleration of the ego vehicle
  • - Preparation of braking, z. B. by building a brake pressure (prefill the brake).

In einer bevorzugten Ausgestaltung der Erfindung wird das Verfahren zur Kollisionsvermeidung dann aktiviert, wenn eine Ampel erkannt wird oder wenn ein Lichtwechsel der Ampel von grün auf gelb erkannt wird.In a preferred embodiment of the invention, the method for collision avoidance is activated when a traffic light is detected or when a light change of the traffic light is detected from green to yellow.

Insbesondere wird das System deaktiviert, wenn keine Gefahr mehr besteht. Dies tritt z. B. ein, wenn beide Fahrzeuge stehen oder beide Fahrzeuge die Ampel passiert haben.In particular, the system is deactivated when there is no longer any danger. This occurs, for. For example, if both vehicles are stationary or both vehicles have passed the traffic light.

In einer positiven Ausgestaltung der Erfindung wird das Verfahren nur dann aktiviert wird, wenn die Geschwindigkeit des Egofahrzeugs geringer als ein vorgegebener Schwellwert ist und ein vorausfahrendes Fahrzeug erkannt wird. Der vorgegebene Schwellwert beträgt z. B. 50, 60, 70 oder 80 km/h.In a positive embodiment of the invention, the method is activated only when the speed of the ego vehicle is less than a predetermined threshold value and a preceding vehicle is detected. The predetermined threshold is z. B. 50, 60, 70 or 80 km / h.

In einer weiteren Ausgestaltung der Erfindung wird das Verfahren nicht aktiviert, wenn sich das Egofahrzeug auf einem Straßentyp befindet, der keine Ampeln aufweist, z. B. auf einer Autobahn. Zur Bestimmung des Straßentyps können die Daten eines GPS-Systems oder eines Umfelderfassungssensors z. B. einer Kamera vorgesehen sein.In a further embodiment of the invention, the method is not activated when the ego vehicle is on a road type that has no traffic lights, z. B. on a highway. To determine the road type, the data of a GPS system or an environment detection sensor z. B. a camera may be provided.

Die erfindungsgemäße Vorrichtung zur Kollisionsvermeidung für ein Kraftfahrzug umfasst

  • – Mittel zur Erfassung der Geschwindigkeit des Egofahrzeugs,
  • – Mittel zur Erfassung vorausfahrender Fahrzeuge und Ampeln,
  • – Mittel zur Erkennung einer Kollisionsgefahr und
  • – Mittel zur Kollisionsvermeidung, z. B. Mittel zur optischen, haptischen oder akustische Warnung eines Fahrers, Mittel zum Unterbinden einer weiteren Beschleunigung des Egofahrzeugs, Mittel zur Vorbereitung einer Bremsung etc.
The inventive device for collision avoidance for a motor vehicle train comprises
  • - means for detecting the speed of the ego vehicle,
  • - means of recording preceding vehicles and traffic lights,
  • - means for detecting a risk of collision and
  • - means for collision avoidance, z. B. means for optical, haptic or audible warning of a driver, means for inhibiting further acceleration of the ego vehicle, means for preparing a braking, etc.

In einer vorteilhaften Ausgestaltung sind die Mittel zur Erfassung einer Ampel als Kamerasystem ausgebildet. Alternativ dazu kann eine Ampel mit einem GPS-Empfänger und einer elektronischen Karte erkannt werden. In einer weiteren Ausgestaltung wird eine Ampel anhand eines Funksignals, das entweder direkt von der Ampel oder von einem anderen Fahrzeug abgestrahlt wird, erkannt.In an advantageous embodiment, the means for detecting a traffic light are designed as a camera system. Alternatively, a traffic light can be detected with a GPS receiver and an electronic map. In a further refinement, a traffic light is detected on the basis of a radio signal which is emitted either directly by the traffic light or by another vehicle.

In einer weiteren vorteilhaften Ausgestaltung sind die Mittel zur Erfassung eines vorausfahrenden Fahrzeugs als Kamera-, Radar- oder Lidarsystem ausgebildet.In a further advantageous embodiment, the means for detecting a vehicle ahead as a camera, radar or Lidarsystem are formed.

In einer positiven Ausgestaltung der Erfindung wird die Geschwindigkeit und die Beschleunigung via Funk vom vorausfahrenden Fahrzeug übertragen (car to car – Kommunikation).In a positive embodiment of the invention, the speed and the acceleration via radio from the preceding vehicle is transmitted (car to car - communication).

Insbesondere ist die Vorrichtung derart ausgestaltet, dass das Verfahren nur aktiviert wird, wenn die Geschwindigkeit des Egofahrzeugs geringer als ein vorgegebener Schwellwert ist und ein vorausfahrendes Fahrzeug erkannt wird. Der vorgegebene Schwellwert ist in Auswerteeinheit hinterlegt beträgt z. B. 50, 60, 70 oder 80 km/h.In particular, the device is configured such that the method is activated only when the speed of the ego vehicle is less than a predetermined threshold value and a vehicle in front is detected. The predetermined threshold value is stored in the evaluation unit is z. B. 50, 60, 70 or 80 km / h.

In einer positiven Ausgestaltung der Erfindung umfasst die Vorrichtung Mittel zur Feststellung eines Straßentyps, auf dem sich das Fahrzeug bewegt. Das Verfahren wird nicht aktiviert, wenn sich das Fahrzeug auf einem Straßentyp befindet, der keine Ampeln aufweist, z. B. auf einer Autobahn.In a positive embodiment of the invention, the device comprises means for detecting a type of road on which the vehicle is moving. The method is not activated when the vehicle is on a road type that has no traffic lights, e.g. B. on a highway.

Zur Bestimmung des Straßentyps können die Daten eines GPS-Systems oder eines Umfelderfassungssensors z. B. einer Kamera vorgesehen sein.To determine the road type, the data of a GPS system or an environment detection sensor z. B. a camera may be provided.

Claims (11)

Verfahren zur Kollisionsvermeidung für ein Kraftfahrzug mit Mitteln zur Erfassung der Geschwindigkeit des Egofahrzeugs und zur Erfassung vorausfahrender Fahrzeuge und zur Erfassung von Ampeln, wobei – vor einer Ampel die Geschwindigkeit oder Relativgeschwindigkeit eines vorausfahrenden Fahrzeugs bestimmt wird und – eine Kollisionsgefahr erkannt wird, wenn die Geschwindigkeit des vorausfahrenden Fahrzeugs abnimmt und die Geschwindigkeit des Egofahrzeugs zunimmt und – bei Kollisionsgefahr eine Maßnahme zur Kollisionsvermeidung eingeleitet wirdMethod for collision avoidance for a motor vehicle with means for detecting the speed of the ego vehicle and for detecting preceding vehicles and for detecting traffic lights, wherein - Before a traffic light, the speed or relative speed of a preceding vehicle is determined and - A collision hazard is detected if the speed of the vehicle in front decreases and the speed of the vehicle increases - In the event of risk of collision, a collision avoidance measure is initiated Verfahren nach einem der vorherigen Ansprüche, wobei eine Maßnahme zur Kollisionsvermeidung zumindest eine der Folgenden ist: – Unterbinden einer weiteren Beschleunigung des Egofahrzeugs – Vorbereitung einer BremsungMethod according to one of the preceding claims, wherein a measure for collision avoidance is at least one of the following: - Prevent further acceleration of the ego vehicle - Preparation of a braking Verfahren nach einem der vorherigen Ansprüche, wobei das Verfahren aktiviert wird, wenn eine Ampel oder wenn ein Lichtwechsel einer Ampel von grün auf gelb oder eine Ampel in der Phase grün erkannt wird.Method according to one of the preceding claims, wherein the method is activated when a traffic light or when a light change of a traffic light from green to yellow or a traffic light in the green phase is detected. Verfahren nach einem der vorherigen Ansprüche, wobei das Verfahren aktiviert wird, wenn ein vorausfahrendes Fahrzeug und eine Ampel in der Phase grün erkannt wird.Method according to one of the preceding claims, wherein the method is activated when a preceding vehicle and a traffic light in the green phase is detected. Verfahren nach einem der vorherigen Ansprüche, wobei das Verfahren aktiviert wird, wenn die Geschwindigkeit des Egofahrzeugs geringer als ein vorgegebener Schwellwert ist und ein vorausfahrendes Fahrzeug erkannt wird.Method according to one of the preceding claims, wherein the method is activated when the speed of the ego vehicle is less than a predetermined threshold and a preceding vehicle is detected. Verfahren nach einem der vorherigen Ansprüche, wobei das Verfahren nicht aktiviert wird, wenn sich das Egofahrzeug auf einem Straßentyp befindet, der keine Ampeln auweist, z. B. auf einer Autobahn.A method according to any one of the preceding claims, wherein the method is not activated when the ego vehicle is on a road type that has no traffic lights, e.g. B. on a highway. Vorrichtung zur Kollisionsvermeidung für ein Kraftfahrzug, umfassend – Mittel zur Erfassung der Geschwindigkeit des Egofahrzeugs, – Mittel zur Erfassung vorausfahrender Fahrzeuge und Ampeln, – Mittel zur Erkennung einer Kollisionsgefahr mit einem Verfahren nach einem der vorherigen Ansprüche – Mittel zur Kollisionsvermeidung, z. B. Mittel zur optischen, haptischen oder akustische Warnung eines Fahrers, Mittel zum Unterbinden einer weiteren Beschleunigung des Egofahrzeugs, Mittel zur Vorbereitung einer Bremsung etc.Apparatus for collision avoidance for a motor vehicle, comprising - means for detecting the speed of the ego vehicle, - means of recording preceding vehicles and traffic lights, - means for detecting a risk of collision with a method according to any one of the preceding claims - means for collision avoidance, z. B. means for optical, haptic or audible warning of a driver, means for inhibiting further acceleration of the ego vehicle, means for preparing a braking, etc. Vorrichtung nach Anspruch 7, wobei die Mittel zur Erfassung einer Ampel als Kamerasystem ausgebildet sind.Apparatus according to claim 7, wherein the means for detecting a traffic light are designed as a camera system. Vorrichtung nach einem der vorherigen Ansprüche 7 oder 8, wobei die Mittel zur Erfassung eines vorausfahrenden Fahrzeugs als Kamera-, Radar- oder Lidarsystem ausgebildet sind.Device according to one of the preceding claims 7 or 8, wherein the means for detecting a preceding vehicle as a camera, radar or Lidarsystem are formed. Vorrichtung nach einem der vorherigen Ansprüche 7 bis 9, wobei das Verfahren nach einem der Ansprüche 1–6 nur aktiviert wird, wenn die Geschwindigkeit des Egofahrzeugs geringer als ein vorgegebener Schwellwert ist und ein vorausfahrendes Fahrzeug erkannt wird.Device according to one of the preceding claims 7 to 9, wherein the method is activated according to one of claims 1-6 only when the speed of the ego vehicle is less than a predetermined threshold and a preceding vehicle is detected. Vorrichtung nach einem der Ansprüche 7 bis 10, wobei die Vorrichtung Mittel zur Feststellung eines Straßentyps umfasst und wobei das Verfahren nach einem der Ansprüche 1–6 nicht aktiviert wird, wenn sich das Egofahrzeug auf einem Straßentyp befindet, der keine Ampeln aufweist, z. B. auf einer Autobahn.Apparatus according to any one of claims 7 to 10, wherein the apparatus comprises means for detecting a road type and wherein the method according to any one of claims 1-6 is not activated when the ego vehicle is on a road type having no traffic lights, e.g. B. on a highway.
DE102011106320A 2011-07-01 2011-07-01 Method for preventing collision of force-driving train, involves detecting risk of collision when speed of preceding vehicle is decreased and speed of ego-vehicle is increased, and introducing measure for collision prevention Withdrawn DE102011106320A1 (en)

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