DE102012203228A1 - A method for avoiding or mitigating consequences in collisions of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle and driver assistance system - Google Patents

Abstract

The invention relates to a method for avoiding collisions or for attenuating consequences of a motor vehicle (1) with an obstacle (2) in a lateral vicinity of the motor vehicle (1), wherein an obstacle (2) in the lateral vicinity of the motor vehicle (1) detected is, a driving tube (10) of the motor vehicle (1) is determined, a risk of collision on the basis of the driving tube (10) of the motor vehicle (1) and the position of the obstacle (2) or the position and the movement of the obstacle (2) is determined and a steering angle (β) of rear wheels (14) of the motor vehicle (1) is set at the risk of collision, so that the obstacle (2) is avoided. The invention also relates to a driver assistance system which is suitable for carrying out the method.

Description

State of the art

The invention relates to a method for avoiding collisions of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle or to mitigate consequences in collisions of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle and a driver assistance system.

From the DE 10 2008 061359 A1 a monitoring device for an environment of a motor vehicle is known, with which a arranged on the side edge of the road stationary obstacle is detected, wherein a position of the detected obstacle is continuously determined and an imminent collision between the motor vehicle and the obstacle is detected by an evaluation. If an impending collision of the motor vehicle with the obstacle has been detected, a warning signal is transmitted to the driver of the motor vehicle and, if appropriate, a brake intervention or a steering intervention is undertaken.

EP 1 447 271 A2 shows a device for monitoring the proximity of a motor vehicle to avoid collisions with obstacles, wherein a computer unit calculates a travel tube of the motor vehicle as a function of a detected steering angle and other body-related information. To avert an imminent collision, an actuator for automatically changing a steering angle or for automatically braking the motor vehicle is provided.

The known devices apply so-called overlay steering of the front wheels, in which the transmission ratio between the steering wheel angle and steering angle is variably adjustable. In view of the fact that the front wheels can be steered in an angular range of 30 °, this is technically questionable, since for example by a programming error, a very large steering angle deviation can be adjusted and the driver may no longer be able to compensate for them ,

Disclosure of the invention

• – Erfassen eines Hindernisses im seitlichen Nahbereich des Kraftfahrzeugs,
• – Ermitteln eines Fahrschlauchs des Kraftfahrzeugs,
• – Ermitteln einer Kollisionsgefahr an Hand des Fahrschlauchs des Kraftfahrzeugs und der Lage des Hindernisses oder der Lage und der Bewegung des Hindernisses und
• – Einstellen eines Lenkwinkels von Hinterrädern des Kraftfahrzeugs bei ermittelter Kollisionsgefahr, um dem Hindernis auszuweichen.

According to the invention, a method is provided for avoiding collisions of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle or for attenuating consequences in collision of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle, the method comprising the following steps:

• Detecting an obstacle in the lateral vicinity of the motor vehicle,
• Determining a driving tube of the motor vehicle,
• Determining a risk of collision on the basis of the driving hose of the motor vehicle and the position of the obstacle or the position and the movement of the obstacle and
• - Setting a steering angle of the rear wheels of the motor vehicle at the risk of collision, to avoid the obstacle.

By applying the rear wheels with a steering torque is achieved that the motor vehicle rear moves away from the obstacle. The steering angle of the rear wheels of the motor vehicle is preferably adjusted so that in this way an avoidance of the obstacle is achieved. This can for example be done so that the rear wheels are hit maximum, until the obstacle has happened.

Particularly preferably, the avoidance of the obstacle is connected with the least possible steering intervention. According to preferred embodiments of the invention, therefore, calculations are provided to determine and set an optimum steering angle of the rear wheels of the motor vehicle. The optimum steering angle for the rear wheels of the motor vehicle should be as small as possible and the application of the steering torque to the rear wheels should avoid the collision of the motor vehicle with the obstacle or weaken the consequences of the collision. It is preferred if, at the optimum steering angle for the rear wheels, the motor vehicle is navigated past the obstacle past a defined distance, for example 5 cm to 50 cm, in particular 10 cm to 20 cm.

It is particularly advantageous to detect the distance to the obstacle or the distance to the obstacle and the relative speed of the obstacle to the motor vehicle periodically, for example at intervals between 1 ms and 1 s, in particular between 10 ms and 100 ms, for example with the aid of ultrasonic sensors , and to regulate the steering angle of the rear wheels of the motor vehicle as a function of the distance to the obstacle or the distance to the obstacle and the relative speed of the obstacle to the motor vehicle. The control of the steering angle is particularly advantageous when the obstacle moves itself. Even in such a case, it is then possible to navigate the motor vehicle past the obstacle at a defined distance, for example 5 cm to 50 cm, in particular 10 cm to 20 cm.

If it should not be possible to avoid the obstacle, if a collision with the obstacle should not be avoidable, it is proposed that to adjust the steering angle of the obstruction wheels of the motor vehicle so that a time to collision, a so-called TTC (time to collision) is maximum, which gives the driver more time to respond in time. Alternatively or additionally, it is proposed to navigate the motor vehicle such that the collision of the motor vehicle with the obstacle takes place in a target impact area on the motor vehicle, ie that the collision occurs at a point in the motor vehicle flank on which a repair is comparatively favorable preferably in the range of doors, such as on the passenger door and while avoiding body parts such as A-pillar, B-pillar, C-pillar or D-pillar. The Sollauftreffbereich may, for example, include an area on the side door, and also for safety, a hem, ie a distance of a few centimeters to the outer contour of the side door may be provided.

The method may include the step of determining the speed of the motor vehicle, in accordance with some embodiments. It can be provided that a control of the rear wheels of the motor vehicle can be carried out or carried out only below a defined speed, for example below 20 km / h, preferably below 10 km / h, more preferably below 6 km / h. Namely, at higher speeds maneuvers can take place, which can be dangerous for the safety of surrounding persons or of the driver, which is intended to be avoided.

Furthermore, it can be provided to limit the adjustable steering angle of the rear wheels for the evasive maneuver to a maximum value, in particular to a maximum of 3 ° to 10 ° or 3 ° to 5 °.

According to the invention, a computer program is also proposed according to which one of the methods described herein is performed when the computer program is executed on a programmable computer device. The computer program can be, for example, a module for implementing a driver assistance system or a subsystem thereof in a motor vehicle or an application for driver assistance functions that can be executed on a smartphone. The computer program can be stored on a machine-readable storage medium, such as on a permanent or rewritable storage medium or in association with a computer device or on a removable CD-ROM, DVD or a USB stick. Additionally or alternatively, the computer program may be provided for download on a computing device, such as on a server, e.g. via a data network such as the Internet or a communication connection such as a telephone line or a wireless connection.

• – eine Umgebungserfassungssensorik, die zur Erfassung des seitlichen Nahbereichs des Kraftfahrzeugs geeignet ist,
• – ein Hinderniserfassungsmodul zur Erfassung eines Hindernisses auf Basis der von der Umgebungserfassungssensorik erfassten Daten,
• – ein Modul zur Ermittlung eines Fahrschlauchs des Kraftfahrzeugs,
• – ein Modul zur Ermittlung einer Kollisionsgefahr des Kraftfahrzeugs mit dem Hindernis an Hand des Fahrschlauchs des Kraftfahrzeugs und der Lage des Hindernisses oder an Hand des Fahrschlauchs des Kraftfahrzeugs und der Lage und der Bewegung des Hindernisses,
• – ein Modul zur Berechnung von optimalen Lenkwinkeln und
• – ein Modul zur Steuerung einer Hinterradlenkung bei ermittelter Kollisionsgefahr des

Furthermore, a driver assistance system is proposed for avoiding collisions of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle or for attenuating consequences in collisions of a motor vehicle with an obstacle in a lateral vicinity of the motor vehicle, comprising:

• An environment detection sensor system which is suitable for detecting the lateral proximity of the motor vehicle,
• An obstacle detection module for detecting an obstacle on the basis of the data acquired by the environment detection sensor,
• A module for determining a driving tube of the motor vehicle,
• A module for determining a risk of collision of the motor vehicle with the obstacle on the basis of the driving tube of the motor vehicle and the position of the obstacle or on the basis of the driving tube of the motor vehicle and the position and the movement of the obstacle,
• A module for calculating optimal steering angles and
• A module for controlling a rear wheel steering when the risk of collision of the collision is determined

Motor vehicle with the obstacle.

The driver assistance system is suitable for carrying out the method described above. The driver assistance system can in principle be combined with other driver assistance systems, in particular with collision avoidance assistants, parking assistants, lane departure warning assistants or reversing warning assistants. In particular, an integration into existing SDW systems (so-called side-distance warning systems) or FKP systems (flank protection systems) is provided, which warn the driver of obstacles that are located next to the motor vehicle. These systems can be easily supplemented by software changes to the functionality of the invention.

The driver assistance system can also rely on existing technology of actively controllable rear wheel steering. Preferably, the driver assistance system already uses existing control modules of motor vehicles, which have an actively controllable rear-wheel steering.

The control of the rear wheels is preferably via a CAN bus or via a Flexray bus.

Advantages of the invention

The proposed rear-wheel steering creates a possibility to avoid an obstacle or to fix the location of the collision of the motor vehicle with the obstacle so that any repair costs on the motor vehicle can be minimized. On the other hand, a faulty system implementation does not lead to an uncontrollable safety impairment of the motor vehicle driver and the other road users.

Further embodiments and advantages of the invention will be described below with reference to the drawings.

Brief description of the drawings

Show it

1 a situation with a motor vehicle and an obstacle in a lateral vicinity of the motor vehicle in plan view,

2 the situation 1 wherein the motor vehicle is shown at two different times,

3 the situation 1 wherein the motor vehicle is shown at two different times and executes a driving maneuver according to the invention,

4 a schematic representation of functional components of a driver assistance system according to the invention in a motor vehicle,

5 a flow chart, which depicts parts of the method according to the invention.

1 shows a situation with a motor vehicle 1 and one in a lateral vicinity of the motor vehicle 1 arranged obstacle 2 , During a pass 3 of the motor vehicle 1 at the obstacle 2 detects an environment detection sensor 4 For example, optical sensors, ultrasonic sensors, radar sensors, lidar sensors or laser sensors, the obstacle 2 What an SDW system 5 (Side-Distance-Warning-System) a distance 18 to the obstacle and, where appropriate, its speed, a set steering angle α of the front wheels 6 of the vehicle 1 and the relative speed of the motor vehicle 1 to the obstacle 2 determined and the situation with the obstacle 2 checks for a risk of collision. Some SDW systems determine the position of the obstacle 2 even further, if the obstacle 2 no longer in the coverage area 7 of the sensor 4 located as shown. The SDW control unit evaluates this 5 for example, the set steering angle α of the front wheels 6 and Wegstreckensensoren. In the case shown are the front wheels 6 taken to the right. The car 1 So it drives a curve and the system 5 Detects a collision with the previously detected obstacle 2 pending.

2 the situation 1 , wherein the motor vehicle 1 additionally also at a time of a collision with the obstacle 2 is shown. A first location 8th of the motor vehicle 1 corresponds to those with respect to 1 has been described. A second location 9 of the motor vehicle 1 at the time of the collision with the obstacle 2 was calculated by a collision monitor module on the basis of data from a module for determining a driving lane and the position of the obstacle or the position and the speed of the obstacle, as described in more detail with reference to FIG 4 is explained. The module for determining a driving tube calculates on the basis of the situation 8th , the speed and the set steering angle α and β of the front wheels 6 and the rear wheels 14 of the motor vehicle 1 a driving tube 10 of the motor vehicle 1 , that of the motor vehicle 1 area swept over in a defined time. In this regard, trajectories are shown by way of example 11a . 11b the front corners 12a . 12b of the motor vehicle 1 and trajectories 13a . 13b the rear wheels 14a . 14b of the motor vehicle 1 ,

A collision time can be given when the obstacle 2 at one time in the calculated travel tube 10 of the motor vehicle 1 located. In addition, as far as is possible from the received signals, a movement 15 the recognized obstacle 2 extrapolated and a potential trajectory determined. In addition, a collision time may be given if due to the potential trajectory of the obstacle 2 Predict that the obstacle 2 in future in the calculated driving route 10 of the motor vehicle 1 will be located.

3 shows the situation 1 , wherein the motor vehicle 1 has the functional components of the driver assistance system according to the invention and is designed to carry out the inventive method for avoiding collisions or for mitigating consequences in collisions. 3 shows the situation 1 , wherein the motor vehicle 1 additionally shown at a later date. A first location 8th of the motor vehicle 1 corresponds to those with respect to 1 has been described. A second location 9 ' of the motor vehicle 1 was represented at a time which is the time of the second location 9 corresponds to that with respect to 2 has been described. A collision with the obstacle 2 did not take place. As in particular with respect to the 4 is described that a Collision monitoring module triggers a module for determining the risk of collision and the latter triggers a steering angle β of the rear wheels 14 calculated, in which a collision can be avoided.

The car 1 So performs an evasive maneuver as shown. Here are the rear wheels 14 so hammered that the rear of the car 22 from the obstacle 2 moved away. A motor vehicle turning point 17 the steering operation with rear axle steering and possibly with front axle steering is opposite a motor vehicle turning point 16 only shifted with front axle steering. As a result, the motor vehicle passes around 1 the obstacle 2 with a certain distance 23 ,

On the motor vehicle 1 are on its lateral flank 19 Sollauftreffbereiche 20 . 21 defines which exemplarily illustrated here a first Sollauftreffbereich 20 in the front side door and a second Sollauftreffbereich 21 in the rear side door of the motor vehicle 1 include.

If the system finds that a collision with the obstacle 1 is inevitable, the system can calculate with which steering angles β of the rear wheels 14 the collision on the motor vehicle 1 in the Sollauftreffbereiche 20 . 21 is steered. Alternatively, or in addition, the system may for different steering angles β of the rear wheels 14 calculate a time to collision (TTC) and determine the or those angles β which lead to a maximum time to collision. This gives the driver an opportunity in front of the obstacle 2 to avoid or to bring the vehicle to a stop before the collision.

4 shows a schematic representation of functional components of a driver assistance system, which is adapted to carry out the inventive method.

The driver assistance system includes an environment detection sensor 4 , which may comprise optical sensor systems, for example monocular or stereo video cameras, and / or ultrasonic sensors, radar sensors, laser sensors and / or LIDAR sensors. The signals of the environment detection sensor 4 be in an input circuit 40 receive. The input circuit 40 is with a bus system 41 , For example, a CAN bus or a Flexray bus, for data exchange with a data processing device 42 connected. The environment detection sensor 4 is suitable for detecting at least one lateral vicinity of a motor vehicle.

The data processing device 42 includes an obstacle detection module 43 , which signals the environment detection sensor 4 receives and processes. The obstacle detection module 43 is suitable for determining a position and preferably also a speed of the obstacle. Suitable methods for this are known.

From the position and the speed of the obstacle, a trajectory of the obstacle can be determined, which can be used to determine the risk of collision.

The data processing device further comprises a module 44 for determining a driving tube of the motor vehicle. The module 44 for determining a driving lane of the motor vehicle processes motor vehicle data, in particular steering angle settings of the front wheels and rear wheels, the current speed of the motor vehicle, odometric data, GPS data, motor vehicle model data such as information on the width and / or length of the body, axle width, wheelbase and / or axial distance, location and position of the side edges of the motor vehicle. In general, the data is available on the CAN bus and / or on the Flexray bus or on higher protocols. The module 44 for determining the driving lane of the motor vehicle thus calculates in particular the location and the position of the motor vehicle at future times.

The data processing device 42 also includes a collision monitoring module 45 , The collision monitoring module 45 receives data of the module 44 for determining the driving path of the motor vehicle and data of the obstacle detection module 43 , which is the collision monitoring module 45 Information about the location of the obstacle, in particular the distance of the obstacle to the motor vehicle at certain times supplies. The collision monitoring module 45 In particular, it may comprise a TTC module which calculates a time TTC until an impending collision with the obstacle. The collision monitoring module 45 can be coupled to other modules that are not shown here, which can cause a driver warning and / or to modules that can bring about automatic braking of the motor vehicle and / or to modules that can change a steering angle of the front wheels of the motor vehicle to the Avoid collision with the obstacle.

The data processing device 42 also includes a module 46 for determining a risk of collision. The module 46 to determine the risk of collision is by the collision monitoring module 45 triggered. Once a potential collision from the collision monitoring module 45 was detected, the module becomes 46 to determine the risk of collision active. It is in data exchange with the module 44 for determining the travel tube of the motor vehicle and with the Obstacle detection module 43 which is the module 46 for determining the risk of collision information about the position and speed of the obstacle, in particular the distance of the obstacle to the motor vehicle at certain times supplies. The module 46 To determine the risk of collision has the task of calculating for different rear wheel steering angle, whether a collision with the obstacle will occur and / or at which point of the motor vehicle the obstacle will hit. For the calculations, it gives particular information about the rear wheel steering angle to the module 44 for the calculation of the driving tube. It has an algorithm which calculates an optimum steering angle for the rear axle under constraints such as target impact ranges and maximizing the TTC and with reference to the flowchart in FIG 5 is explained in more detail. The module 46 For determining the risk of collision, for various rear wheel steering angles, output values may be provided for further processing, which may include information about whether a collision takes place or not and may further comprise a TTC and a point of impact on the motor vehicle.

The data processing device also includes a module 47 for adjusting a steering angle of the rear wheels of the motor vehicle. The module 47 for adjusting the steering angle of the rear wheels of the motor vehicle receives in particular data of the module 46 for determining the risk of collision. The module controls this data 47 for adjusting the steering angle of the rear wheels, the rear wheels and sets in response to the imminent collision, the optimum steering angle of the rear wheels. The module 47 for adjusting the steering angle of the rear wheels can make the control via a data bus, in particular the CAN bus or the Flexray bus.

In particular, the modules can be managed so that a regulation of the rear wheel control on the basis of the current distance to the obstacle and a desired distance can take place, which is useful for moving obstacles. In this case, a direct communication of the obstacle detection module with the module for determining the risk of collision is advantageous.

5 shows a flow chart, which depicts parts of the method according to the invention, with steps that are executed in particular by the module for determining the risk of collision. The method is initiated by a step S0 in which the obstacle in the lateral vicinity of the motor vehicle is detected.

In a first step S1, a steering angle of the rear wheels is initiated. The initiated steering angle is preferably the maximum possible or maximum allowable steering angle, for example 10 °, 5 ° or 3 °. In a second step S2, the expected driving route is calculated. In a third step S3, the trajectory of the obstacle can be checked. In a fourth step S4, it is calculated whether a collision with the obstacle is imminent. Depending on the result, in the fourth step S4 it is also preferably calculated when and at which point on the motor vehicle a collision takes place or at which distance a passage takes place at the obstacle.

If no collision has been calculated in the fourth step S4 and if the distance to the obstacle during the passage is sufficiently large, the angle is defined as currently the best angle. In a fifth step S5, an abort criterion is checked. The termination criterion can be defined, for example, based on the angle, so if a sufficient accuracy is achieved. Alternatively, or in addition to this, it can also influence whether immediate action makes sense.

However, if it is determined in the fourth step S4 that there is a risk of collision at the calculated angle or if the distance in which a passage at the obstacle occurs is too small, then the calculated time until the collision the impact point on the motor vehicle will be the best currently Values set. In the fifth step S5 is checked as a termination criterion whether the TTC is maximum and a Sollauftreffbereich is taken.

If the abort criterion is met in the fifth step S5, then the output of the method in a sixth step S6 in the event of a collision is the angle to be applied to the rear wheels, in which the time to collision is maximum and a collision occurs in a target impact area , and in the event that there is no collision, the angle given to the rear wheels to apply, in which the collision is avoided with minimal steering intervention.

In a further step S7, the steering angle of the rear wheels of the motor vehicle is set by the module for adjusting a steering angle of the rear wheels of the motor vehicle in order to avoid the obstacle.

If the abort criterion is not met in the fifth step S5, then in a eighth step S8 a new angle is set, with which the method is executed again from the second step, i. H. is iterated. In this case, the method can continue to run in the interval nesting method or comprise a successive scanning of the angles with equidistant steps.

In the event of a collision, the interval nesting is preferably provided and in the event of non-collision prefers a successive scanning of the possible angles with equidistant steps, since in the latter case a minimum of the TTC must be found. In interval nesting, the angle initiated is halved and the calculation is performed at half the angle. If no collision is still detected and the distance to the obstacle at the passage is sufficiently large, then the best angle is set to the halved value. If, however, the risk of collision is affirmative, then the other interval is turned off. Then the calculation is again carried out with a value of the angle bisecting the interval and executed iterated until the termination criterion is met.

The invention is not limited to the embodiments described herein and the aspects highlighted therein. Rather, within the scope given by the claims a variety of modifications are possible, which are within the scope of expert action.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008061359 A1 [0002]
• EP 1447271 A2 [0003]

Claims (10)

Method for avoiding collisions of a motor vehicle ( 1 ) with an obstacle ( 2 ) in a lateral vicinity of the motor vehicle ( 1 ) or to mitigate consequences in collisions of a motor vehicle ( 1 ) with an obstacle ( 2 ) in a lateral vicinity of the motor vehicle ( 1 ) comprising the following steps: - detecting (S0) an obstacle ( 2 ) in the lateral vicinity of the motor vehicle ( 1 ), - determining (S2) a driving tube ( 10 ) of the motor vehicle ( 1 ), - determining (S4) a collision danger on the basis of the driving tube ( 10 ) of the motor vehicle ( 1 ) and the location of the obstacle ( 2 ) or the position and the movement of the obstacle ( 2 ) and - setting (S7) a steering angle (β) of rear wheels ( 14 ) of the motor vehicle ( 1 ) at the risk of collision, around the obstacle ( 2 ) to evade. A method according to claim 1, characterized in that an optimum steering angle (β) for the rear wheels ( 14 ) of the motor vehicle ( 1 ), so that the motor vehicle is navigated past the obstacle at a defined distance, for example 5 cm to 50 cm, in particular 10 cm to 20 cm. Method according to claim 1 or 2, characterized in that a distance ( 18 ) of the motor vehicle ( 1 ) to the obstacle ( 2 ) is detected periodically, for example at intervals between 1 ms and 1 s, in particular between 10 ms to 100 ms, and the steering angle (β) of the rear wheels ( 14 ) of the motor vehicle ( 1 ) is regulated. Method according to one of the preceding claims, characterized in that the steering angle (β) of the rear wheels ( 14 ) of the motor vehicle ( 1 ) is set such that a time to collision is maximum, in case a collision with the obstacle ( 2 ) is unavoidable. Method according to one of the preceding claims, characterized in that the steering angle (β) of the rear wheels ( 14 ) of the motor vehicle ( 1 ) is set such that the collision of the motor vehicle ( 1 ) with the obstacle ( 2 ) in a target impact area ( 20 . 21 ) on the motor vehicle ( 1 ), if a collision with the obstacle ( 2 ) is unavoidable. Method according to one of the preceding claims, characterized in that a control of the rear wheels ( 14 ) of the motor vehicle ( 1 ) can take place only below a defined speed, in particular below 20 km / h, preferably below 10 km / h, particularly preferably below 6 km / h. Method according to one of the preceding claims, characterized in that the adjustable steering angle (β) of the rear wheels ( 14 ) is at most 3 ° to 10 ° or 3 ° to 5 °. Method according to one of the preceding claims, characterized in that a control of the rear wheels ( 14 ) of the motor vehicle ( 1 ) via a CAN bus or via a Flexray bus. A computer program for performing any of the methods of any one of claims 1 to 8 when the computer program is executed on a programmable computing device. Driver assistance system for avoiding collisions of a motor vehicle ( 1 ) with an obstacle ( 2 ) in a lateral vicinity of the motor vehicle ( 1 ) or to mitigate consequences in collisions of a motor vehicle ( 1 ) with an obstacle ( 2 ) in a lateral vicinity of the motor vehicle ( 1 ), comprising - an environment detection sensor system ( 4 ) used to detect the lateral vicinity of the motor vehicle ( 1 ), - an obstacle detection module ( 43 ) for detecting an obstacle ( 2 ) based on the environmental detection sensor technology ( 4 ), - a module ( 44 ) for determining a driving tube ( 10 ) of the motor vehicle ( 1 ), - a module ( 46 ) for determining a risk of collision of the motor vehicle ( 1 ) with the obstacle ( 2 ) on the basis of the driving tube ( 10 ) of the motor vehicle ( 1 ) and the location of the obstacle or on the basis of the driving tube ( 10 ) of the motor vehicle ( 1 ) and the position and movement of the obstacle ( 2 ), - a module for calculating optimal steering angles and - a module ( 47 ) for controlling a rear-wheel steering at the risk of collision of the motor vehicle ( 1 ) with the obstacle ( 2 ).

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