DE102011106485A1 - Method for supporting driver of motor car during overriding in oncoming traffic situation in two-lane road, involves triggering safety response for reducing or preventing collision of motor car with object, if criticality criterion is met - Google Patents

Abstract

The method involves computing a collision occurrence remaining time (35) if an oncoming traffic object (21) i.e. motor car, is continuously driven on a lane (27) on which a motor car (1) is driving. A collision avoidance time (33) required for quick and stable travel of the object to another lane (29) is computed. The possibility of the collision of the motor car with the object is determined based on a criticality criterion defined based on the comparison of the remaining and avoidance times. A safety response is triggered for reducing or preventing the collision, if the criterion is met. The safety response comprises an output of a warning i.e. horn, to a driver of the motor car and/or at the oncoming traffic object.

Description

The invention relates to a method for supporting a driver of a motor vehicle in an oncoming traffic situation as well as a motor vehicle according to the method.

Assistance systems for assisting a driver of a motor vehicle are known. These may be, for example, vehicle dynamics controls, brake assist systems, lane departure warning systems and / or the like. In dangerous situations, these can issue warnings to the driver of the motor vehicle and, if necessary, initiate a supportive reaction. This may, for example, be a change of transmission behavior, in the example of a brake assistant, for example, an increase in an available brake pressure. Optionally, the assistance systems can perform a fully automatic intervention in a dynamics of the motor vehicle, for example, a longitudinal dynamic engagement in the form of partial braking and / or a transverse dynamic engagement in the form of a Einzelradbremsung and / or a steering intervention. In principle, these systems respond to any kind of traffic situation and can stabilize and / or support according to the underlying singular principles of action, thus also in an oncoming traffic situation. In principle, different traffic situations are known, for example, occurring during an overtaking operation on a two-lane road, which is traveled bidirectionally. In this case, the motor vehicle as an active part, so as overtaking vehicle or as a passive part, so as an oncoming vehicle in a dangerous situation. This can lead to an overlap of driving tubes of oncoming motor vehicles and thus to an imminent collision.

The object of the invention is to enable an improved support of a motor vehicle in oncoming traffic situations, in particular to allow situation-specific support of the driver of the motor vehicle, in particular as a passively involved motor vehicle in oncoming objects, in particular under utilization and / or networking existing in the motor vehicle individual assistance systems.

The object is solved by the features of patent claim 1. Advantageous embodiments and further developments emerge from the subclaims.

• – Erkennen, dass das Gegenverkehrsobjekts, beispielsweise ein entgegenkommendes Fahrzeug, sich auf einem vom Kraftfahrzeug befahrenen ersten Fahrstreifen befindet oder von einem dem benachbarten zweiten Fahrstreifen auf den ersten Fahrstreifen driftet,
• – Berechnen einer Aufpralleintrittsrestzeit als verbleibende Zeitdauer bis zum erwarteten Eintreten einer Kollision des Kraftfahrzeug mit dem Gegenverkehrsobjekt, wenn das Kraftfahrzeug und das Gegenverkehrsobjekt ihre Fahrt auf dem ersten Fahrstreifen unverändert fortsetzen würden,
• – Berechnen einer Ausweichzeit als Zeitdauer, die für ein möglichst schnelles und stabiles Überführen des Gegenverkehrsobjekts auf den zweiten Fahrstreifen benötigt wird,
• – Erkennen anhand eines Kritikalitätskriteriums, das auf einem Vergleich der Aufpralleintrittsrestzeit mit der Ausweichzeit beruht, ob eine Kollisionsgefahr des Kraftfahrzeugs mit dem Gegenverkehrsobjekt vorliegt,
• – Auslösen einer Sicherheitsreaktion zum Mindern oder Beseitigen der Kollisionsgefahr, falls das Kritikalitätskriterium erfüllt ist, d. h. falls anhand des Kritikalitätskriteriums erkannt worden ist, dass eine Kollisionsgefahr des Kraftfahrzeugs mit dem Gegenverkehrsobjekt vorliegt.

According to the invention, the driver of a motor vehicle is offered assistance in carrying out the following method steps in an oncoming traffic situation with an oncoming traffic object approaching the motor vehicle on the same lane:

• Detecting that the oncoming traffic object, for example an oncoming vehicle, is located on a first traffic lane traveled by the motor vehicle or drifts from a neighboring second traffic lane onto the first traffic lane,
• Calculating an impact entry residual time as the remaining time until the expected occurrence of a collision of the motor vehicle with the oncoming traffic object if the motor vehicle and the oncoming traffic object would continue their journey on the first lane unchanged,
• Calculating an escape time as a time duration which is required for the fastest possible and stable transfer of the oncoming traffic object to the second lane,
• Detecting on the basis of a criticality criterion, which is based on a comparison of the impact entry residual time with the avoidance time, whether there is a risk of collision of the motor vehicle with the oncoming traffic object,
• - Triggering a security reaction to reduce or eliminate the risk of collision, if the criterion of criticality is met, ie if it has been recognized on the basis of the criticality criterion that there is a risk of collision of the motor vehicle with the oncoming traffic object.

In one embodiment of the method, triggering a warning of the driver of the motor vehicle when the criterion of criticality is met is provided as the safety reaction. Advantageously, the driver can be warned as soon as the criticality criterion is met. This can advantageously take place very early, preferably before the driver of the motor vehicle perceives this himself. It has been recognized that a large number of drivers of motor vehicles underestimate the risk potential that initially arises in an oncoming traffic situation from an oncoming oncoming traffic object. Advantageously, by means of the warning the driver can be made aware of the danger earlier than he would have noticed.

Alternatively and / or additionally, an early warning of the oncoming traffic object can be understood under the warning, for example by automatically operating a flashlight that can detect the oncoming traffic object. The driver's warning can be understood to mean any signaling, for example acoustically, optically and / or haptically and / or in another suitable manner.

In a further embodiment of the method, it is provided to determine as a first additional criterion whether the criticality criterion for the Duration of a first default time interval is met. Upon fulfillment of the first additional criterion, a braking action of a brake of the motor vehicle requested via a brake pedal actuation is amplified or a triggering threshold of a brake assist of the motor vehicle is lowered as a safety reaction. Advantageously, therefore, if the criterion of criticality for the duration of the first preset time interval is satisfied, already a slight tap of the brake by the driver of the motor vehicle lead to a very high delay and thus to an enormous safety gain.

In a further embodiment of the method, it is determined as a second additional criterion whether the criticality criterion is satisfied for the duration of a second default time interval, the second default time interval being longer than the first default time interval, and if the second additional criterion is met, the safety response is an intervention in the dynamics made the motor vehicle. Advantageously, thereby the criticality of the oncoming traffic situation can be de-escalated. This can be done advantageously without further action by the driver.

In a further embodiment of the method, triggering a partial braking of the motor vehicle is provided as the intervention in the dynamics. Advantageously, an impending collision can be delayed by means of the partial braking, in particular delayed so far that the oncoming traffic object can safely escape from the motor vehicle onto the second lane.

In a further embodiment of the method, triggering an intervention in the transverse dynamics of the motor vehicle for approaching the motor vehicle to a roadway edge is provided as an intervention in the dynamics. Advantageously, so space for a collision-free passage of the oncoming traffic object can be created. Advantageously, it can be ensured that the motor vehicle is controlled very close to the roadway edge, but preferably without exceeding it. Advantageously, a possibly by the driver of the motor vehicle manually controlled tearing of the steering of the motor vehicle, which would lead to a leaving the road, can be avoided. The intervention in the transverse dynamics of the motor vehicle can advantageously be carried out as a steering intervention or single wheel engagement.

In a further embodiment of the method, determining whether the criticality criterion is met for the duration of a third preset time interval is provided as a third additional criterion, wherein the third default time interval is longer than the second default time interval. Upon fulfillment of the third additional criterion, a further intervention in the dynamics of the motor vehicle is provided as the safety reaction, in particular an intervention in the transverse dynamics of the motor vehicle. Advantageously, the intervention in the transverse dynamics of the motor vehicle is made only when the third additional criterion is met. Advantageously, a third escalation stage of the safety reaction can be created by means of the third additional criterion.

In a further embodiment of the method, it is provided to check, as criterion of criticality, whether the impact residual time is less than the escape time or whether the impact residual time is less than the impact residual time by a predetermined tolerance amount. This corresponds to the check whether the difference of the impact entry time minus the escape time is less than zero or smaller than the tolerance amount. Advantageously, it can be determined by this check whether the oncoming traffic object can safely escape from the motor vehicle into the second lane without further measures on the part of the motor vehicle. If this is not the case, the safety reaction for de-escalation can advantageously be initiated.

The object is also achieved in a motor vehicle, set up, designed, constructed and / or equipped with software for performing a method described above. This results in the advantages described above.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. Described and / or illustrated features form the subject of the invention, or independently of the claims, either alone or in any meaningful combination, and in particular may additionally be the subject of one or more separate invention (s). The same, similar and / or functionally identical parts are provided with the same reference numerals.

Showing:

1 a schematic side view of a motor vehicle with an assistance device for assisting the driver of the motor vehicle in an oncoming traffic situation;

2 a schematic view of an oncoming traffic situation with the in 1 shown motor vehicle, as well as this in the lane of the motor vehicle oncoming oncoming traffic object; and

3 a schematic process for de-escalating in the 1 and 2 illustrated oncoming traffic situation.

1 shows a schematic side view of a motor vehicle 1 , The car 1 is with an assistance device 3 fitted. The assistant device 3 can in particular in a control unit, in particular a central control unit 5 be implemented. The assistant device 3 is designed, aligned and / or programmed to assist a driver 7 of the motor vehicle 1 , The driver 7 controls the motor vehicle 1 by means of a human-machine interface 9 , The man-machine interface 9 of the motor vehicle 1 has in particular a steering wheel 11 for entering steering commands and thus for controlling a transverse dynamics of the motor vehicle 1 and a pedal system 13 for inputting a deceleration and an acceleration request, ie for controlling a longitudinal dynamics of the motor vehicle 1 on.

The car 1 is with a sensor device 15 equipped, by means of the one to the motor vehicle 1 prevailing traffic situation, for example, an oncoming traffic situation, can be detected. Under an oncoming traffic situation can be understood in particular a situation in which the motor vehicle 1 a bidirectionally used multi-lane, especially two-lane road travels. Advantageously, by means of the sensor device 15 a sensor signal 17 generated, which describes the oncoming traffic situation and the control unit 5 and thus the assistant device 3 is available. The sensor device 15 has a camera device for recognizing lane markings. It may also have other sensors of different types, for example lidar sensors, stereometric camera devices, laser devices, radar devices and / or the like. The sensor signal 17 may describe and / or have information about lane markings, as well as information about distances, spatial arrangements, angles, accelerations, driving speeds, which occur in the oncoming traffic situation, so that advantageous with the assistance device 3 An analysis of the oncoming traffic situation can take place.

Depending on the analysis of the traffic situation and thus dependent on the sensor signal 17 generates the assistance device 3 a safety reaction to assist the driver 7 of the motor vehicle 1 , The security reaction can advantageously have different escalation levels, in particular begin with a warning. If the warning does not lead to a corresponding driver reaction of the driver 7 leads, can the assistance device 3 interventions 19 in a dynamics of the motor vehicle 1 , in particular a longitudinal dynamics and / or a transverse dynamics make. The interventions may be, for example, brake interventions, that is, for example, an initiated partial braking, to a Einzelradbremsung, an intervention in the steering 11 , In particular, a fully automatic steering intervention and / or an imposition of an additional steering torque, and / or an initiated acceleration act. Alternatively and / or additionally, it may be in the interventions 19 a change, in particular a reinforcement of a transfer function of the man-machine interface 9 act, for example to increase the effect of an operation of the pedal system 13 and / or the steering wheel 11 ,

1 shows the motor vehicle shown schematically 1 together with a partially represented oncoming oncoming traffic object 21 that the motor vehicle 1 head-on.

2 shows a schematic view of in 1 illustrated oncoming traffic situation from above. The car 1 as well as the oncoming traffic object 21 drive a two-lane road 25 with a first lane 27 and a second lane 29 , The first lane 27 is from the motor vehicle 1 and at times from the oncoming traffic object 21 drive in the opposite direction. The oncoming traffic object 21 is for no apparent reason, for example, due to inattention of his driver or excessive speed of his regular lane, ie from the second lane 29 , on the first lane 27 , ie on the lane of the motor vehicle 1 drifted.

The car 1 drives the first lane 27 along a driving tube 31 , In 2 it can be seen that the oncoming traffic object 21 himself with the driving tube 31 of the motor vehicle 1 overlaps, which is synonymous with a risk of collision when the motor vehicle 1 and the oncoming traffic object 21 her ride on the first lane 27 continue. In 2 is by means of a vertical line and an arrow an escape time 33 indicated, which corresponds to the length of time that the oncoming traffic object 21 at least needed to be stable, ie, without exceeding a predetermined maximum lateral acceleration, back to the second lane 29 to drive. When displayed in 2 a length of the arrow symbolizes the duration of the escape time 33 and the vertical bar a place of the oncoming traffic object 21 the fastest possible return to the second lane. It is also in 2 , also by means of a vertical line and an arrow an impact entry time 35 located. The vertical line to clarify the impact entry time 35 indicates a place where the motor vehicle 1 and the oncoming traffic object 21 after expiration of the impact entry time 35 would collide with each other when the motor vehicle 1 and the oncoming traffic object 21 her ride on the first lane 27 would continue unchanged. In 2 is exemplified a situation in which the impact entry time 35 the escape time 33 exceeds, so that a safe evasion of the oncoming traffic 21 on his regular lane 29 before contact with the motor vehicle 1 is possible.

For the opposite case can advantageously be a security reaction to de-escalate the in 2 illustrated oncoming traffic situation.

3 shows a procedure for assisting the driver 7 of the motor vehicle 1 in the oncoming traffic situation by means of a security reaction 37 , The security reaction 37 is in 3 symbolized by a dashed rectangle.

In an upstream, in 3 not shown step is with the sensor device 15 initially a lane detection made to the motor vehicle 1 used lanes 27 as a lane of the motor vehicle 1 to recognize. Lane detection is based on a video-based recognition of lane markings on the road 25 to delineate the lanes 27 . 29 are applied. Furthermore, it is recognized whether the oncoming oncoming traffic object 21 on the first lane 27 is located or from the adjacent second lane 29 on the first lane 27 drifts.

If this oncoming traffic situation exists, it is recognized whether there is a danger of a collision of the motor vehicle 1 with the oncoming traffic object 21 is available. For this purpose, a first in 2 marked distance 39 between the motor vehicle 1 and the oncoming traffic object 21 determined. This can, for example, in dependence on the sensor signal 17 the sensor device 15 , in particular by means of the assistance device 3 the control unit 5 of the motor vehicle 1 respectively. In addition, a relative speed between the motor vehicle 1 and the oncoming traffic object 21 determined. In knowledge of the distance 39 and the relative velocity can be expressed as the quotient of the relative velocity through the distance 39 the impact entry time 35 can be determined, it can be assumed that driving conditions of the motor vehicle 1 and the oncoming traffic object 21 until the end of the impact entry time remaining 35 do not change, so stay constant.

In addition, an optimal movement trajectory of the oncoming traffic object 21 for the fastest possible and stable return of the oncoming traffic object 21 on the second lane 29 calculates and calculates the time that the oncoming traffic object 21 will need to get the first lane 27 to leave on a journey along the optimal movement trajectory. The time thus determined corresponds to the escape time 33 , This calculation can also by means of distances, relative speeds, relative accelerations between the motor vehicle 1 , the oncoming traffic object 21 respectively. The calculation of the optimal motion trajectory and the calculation of the evasion time 33 takes place on the assumption that the oncoming traffic object 21 his journey without delay and stable, that continues with a limited to a predetermined maximum lateral acceleration lateral acceleration. From the impact entry time 35 and the escape time 33 will be a difference 41 educated. The difference 41 serves as the input of a criticality criterion 43 , which checks whether the difference falls below a specified difference or whether the impact entry time remaining 35 less than the fallback time 33 , If that is the case, it can be concluded that a collision with the oncoming traffic object 21 threatens, as this up to the predicted collision does not have enough time to complete his return, so from the first lane 27 on the second lane 29 switch back. Advantageously, when the criterion of criticality is met 43 Immediately a warning 45 as part of the security reaction 37 to be triggered. This can be considered as the first escalation stage at which the driver 7 of the motor vehicle 1 is warned first, so that if necessary, even by a corresponding driver reaction can defuse the situation. In addition, a warning to the outside of the oncoming traffic object 21 be given, for example by fading or honking.

In an in 3 shown second escalation level is at a first additional criterion 47 checked if the criterion of criticality 43 is satisfied for the duration of a first default time interval. If the first additional criterion 47 is met, is a lowering 49 a triggering threshold of a brake assist system of the motor vehicle 1 as part of the security reaction 37 carried out. The brake assist system then advantageously engages earlier than in a normal case and the driver 7 of the motor vehicle 1 is supported earlier, the gap between the own motor vehicle 1 and the oncoming oncoming traffic object 21 Maintain as long as possible. Alternatively or additionally, also achieved by a brake pedal actuation braking effect can be amplified, so that the driver 7 achieved in this critical traffic situation by his brake actuation a higher delay than normal.

In a third escalation level the in 3 illustrated safety reaction 37 becomes a second additional criterion 51 checked if the criterion of criticality 43 is satisfied for the duration of a second default time interval. The second default time interval is longer than the first default time interval. If the second additional criterion 47 is fulfilled, as part of the security reaction 37 an intervention 53 in a dynamics of the motor vehicle 1 initiated. Under a dynamic of the motor vehicle 1 For example, a longitudinal dynamics and / or a transverse dynamics can be understood, the engagement 53 For example, may have a partial braking, for example, 40% of a maximum delay.

Alternatively and / or additionally, in a third additional criterion 55 be checked if the criterion of criticality 43 even longer than the second default time interval, namely for the length of a third default time interval is met. In this case, especially as a fourth escalation stage, the intervention 53 be performed as an intervention in the transverse dynamics, in particular as a Einzelradbremseingriff and / or as an automatic steering intervention to the motor vehicle 1 in a legal transaction in 2 is shown to move to the right and in a left-hand traffic to the left, so to a roadside of the road 25 whereby thereby a gap between the motor vehicle 1 and the oncoming traffic object 21 is increased in order to reduce the risk of collision.

LIST OF REFERENCE NUMBERS

1

motor vehicle

3

assistance device

5

control unit

7

driver

9

Human-machine interface

11

steering wheel

13

pedals

15

sensor device

17

sensor signal

19

interventions

21

Oncoming traffic object

25

two-lane roadway

27

first lane

29

second lane

31

driving tube

33

fallback time

35

Impact Admission Time

37

security response

39

distance

41

difference

43

criticality

45

warning

47

first additional criterion

49

Lowering a tripping threshold

51

second additional criterion

53

intervention

55

third additional criterion

Claims (9)

Method for supporting a driver ( 7 ) of a motor vehicle ( 1 ) in an oncoming traffic situation with the steps: - recognizing that an oncoming traffic object ( 21 ) on one of the motor vehicle ( 1 ) first lane ( 27 ) or from a first lane ( 27 ) adjacent second lane ( 29 ) on the first lane ( 27 ) drifts, - calculating an impact entry residual time ( 35 ) as the remaining time until the expected occurrence of a collision of the motor vehicle ( 1 ) with the oncoming traffic object ( 21 ) when they start their journey on the first lane ( 27 ) would continue unchanged, - calculating an escape time ( 33 ) as the time required for the fastest possible and stable transfer of the oncoming traffic object ( 21 ) on the second lane ( 29 ) is detected, on the basis of a comparison of the impact entry time remaining ( 35 ) with the escape time ( 33 ) based criterion of criticality ( 43 ), whether a risk of collision of the motor vehicle ( 1 ) with the oncoming traffic object ( 21 ), - initiation of a safety reaction ( 37 ) for mitigating or eliminating the risk of collision if the criterion of criticality ( 43 ) is satisfied. Method according to claim 1, characterized in that the safety reaction ( 37 ) the output of a warning ( 45 ) to the driver ( 7 ) of the motor vehicle ( 1 ) and / or to the oncoming traffic object ( 21 ). Method according to one of the preceding claims, characterized in that - as a first additional criterion ( 47 ) determines whether the criterion of criticality ( 43 ) is met for the duration of a first default time interval, and that, when the first additional criterion ( 47 ) as a safety reaction ( 37 ) via a brake pedal requested braking effect of a brake of the motor vehicle ( 1 ) or a triggering threshold of a brake assist system of the motor vehicle ( 1 ) is lowered. Method according to one of the preceding claims, characterized in that - as a second additional criterion ( 51 ) determines whether the criterion of criticality ( 43 ) is satisfied for the duration of a second default time interval, wherein the second default time interval is longer than the first default time interval, - and that upon fulfillment of the second additional criterion ( 51 ) as a safety reaction ( 37 ) an intervention ( 53 ) in the dynamics of the motor vehicle ( 1 ) is triggered. Method according to the preceding claim, characterized in that - partial braking of the motor vehicle ( 1 ) than the intervention ( 53 ) in the dynamics of the motor vehicle ( 1 ) is triggered, - and / or that a Einzelradbremsung and / or a steering intervention for approaching the motor vehicle ( 1 ) to a lane edge than the intervention ( 53 ) in the dynamics of the motor vehicle ( 1 ) is triggered. Method according to one of the preceding claims, characterized in that - as a third additional criterion ( 55 ) determines whether the criterion of criticality ( 43 ) is satisfied for the duration of a third default time interval, the third default time interval being longer than the second default time interval, and - if the third supplementary criterion ( 55 ) another intervention ( 53 ) in the dynamics of the motor vehicle ( 1 ) as the security reaction ( 37 ) is triggered. Method according to the preceding claim, characterized in that as a further intervention ( 53 ) in the dynamics of the motor vehicle ( 1 ) an intervention in a transverse dynamics of the motor vehicle ( 1 ) for approaching the motor vehicle ( 1 ) is triggered at a roadway edge, in particular a Einzelradbremseingriff and / or steering intervention. Method according to one of the preceding claims, characterized in that the criterion of criticality ( 43 ) is detected as fulfilled when the impact entry time ( 35 ) less than the escape time ( 33 ), in particular by a predetermined tolerance amount less than the escape time ( 33 ). Motor vehicle ( 1 ), designed, constructed, and / or equipped with software for carrying out a method according to any one of the preceding claims.

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