DE102012222715A1 - Method for detecting foresighted collision of vehicle i.e. motor car, involves determining time-to-collision information of object based on reflected pulses received by channels for judging whether collision is occurred based on information - Google Patents

Abstract

The method involves sending pulses (106) of electromagnetic radiation by a transmitter (102) to a vehicle, and receiving reflected pulses (107) by directional channels (110) from a multi-channel sensor (108), which are attached to the vehicle. Group of neighboring directional channels are determined based on the reflected pulses, which are reflected by an object (200). A time-to-collision information (150) of the object is determined based on the reflected pulses received by the channels for judging whether a collision is occurred based on the time-to-collision information. Independent claims are also included for the following: (1) a computer program product having a set of instructions for executing a method for detecting foresighted collision of a vehicle (2) a detecting device for detecting foresighted collision of a vehicle.

Description

background

The present invention relates to a device for predictively detecting a vehicle collision. In other aspects, the invention relates to a vehicle in which such a device is installed, to a method for predictively detecting a vehicle collision, and to a computer program product for carrying out such a method.

Under the title "Device and method to predict and respond to an accident" reveals the US Pat. No. 6,012,008 an active detection system for predicting a collision to trigger a baffle before the collision occurs. The detection is based on the reflection of pulse signals (eg radar, laser) whose transit times are measured. To preclude generation of false messages, detection is limited to a detection envelope area near the vehicle surface that allows collision warnings to be emitted about 10 to 40 ms before a collision occurs.

While this time is sufficient to trigger an impact pad, others require useful measures in the event of a collision such. As the tightening straps, adjusting headrests, giving a warning sound to the driver, or start up any open side window, however, much more time to use. Therefore, it is desirable to provide a warning of an imminent collision at an earlier time without increasing the likelihood that false messages will be generated.

Disclosure of the invention

The above object is achieved by a method for predictive detection of a vehicle collision according to claim 1, and also by a device for predictive collision detection for a vehicle according to claim 14.

The inventive predictive collision detection apparatus for a vehicle includes a pulse transmitter for emitting pulses of electromagnetic radiation from the vehicle, a multi-channel sensor having a plurality of directional channels for receiving reflected pulses on the vehicle, and a grouper for determining, based on the reflected pulses, a group reflected pulses from adjacent directional channels in which the reflected pulses were reflected from a same object. The apparatus further comprises a time-to-collision determiner for determining time-to-collision information for the object based on reflected pulses received in the directional channels of the group, and an assessor for judging whether a collision will take place on the time-to-collision information. The use of information from a plurality of directional channels makes it possible to detect a collision with a particularly high reliability even if there is a long distance between the vehicle and the potential collision object. Thus, measures such as closing windows or strapping straps requiring a long period of time as compared with a baffle cushion can be used safely. Further, the logical grouping of information from multiple directional channels limits the amount of data processing, so that high-performance processors and the like are not needed, which makes it possible to reduce the manufacturing cost.

The pulse transmitter preferably has a light-emitting diode. This makes it possible to implement the device for predictive collision detection in a compact form that is easy to manufacture, consumes little energy and z. B. under a cover of a tail light or other light of the vehicle space, so that the production of the vehicle can be simplified and its design can be finished. In particular, if an infrared LED is used, the effect of adverse weather conditions such. B. fog on the operation of the device.

The inventive method for predictively detecting a collision of a vehicle includes steps of emitting pulses of electromagnetic radiation via a vehicle-mounted transmitter, receiving reflected pulses from a plurality of directional channels on a vehicle-mounted multi-channel sensor, and determining based on the reflected pulses , a group of adjacent directional channels in which the reflected pulses were reflected from a same object. Further, it includes steps of determining time-to-collision information for the object based on reflected pulses received in the direction channels of the group, and judging whether a collision will take place based on the time-to-collision information.

Preferably, the step of judging whether a collision will take place includes judging whether the time to collision according to the time-to-collision information is shorter than a predetermined time-to-collision threshold. In this way, the time-to-collision threshold can be selected in accordance with a required mission time for actions taken in the event of a Assessment should be used that a collision threatens.

According to a preferred embodiment, the method further comprises a step of determining a reflection distance for each reflected pulse, based on a transit time from the emission to the reception of the reflected pulse, wherein the step of determining the group is performed by selecting adjacent directional channels in which the received reflected pulses correspond to a substantially equal reflection distance. This allows the object to be reliably distinguished from other objects that are in the same direction but at a different distance from the vehicle, e.g. From a second object that is partially behind the object corresponding to the group.

According to a preferred embodiment, the method further comprises a step of discarding reflected pulses corresponding to a reflection distance greater than a predetermined maximum distance. This makes it possible to prevent the prediction of a collision with an object that is so far away that the driver of the vehicle - or, if the object is another vehicle, the leader of the other vehicle - still by changing the driving speed and / or direction can react so that a collision is avoided. For example, data corresponding to said pulses is deleted from a memory or left unconsidered in subsequent steps. Additionally or alternatively, similarly reflected pulses that correspond to a reflection distance less than a predetermined minimum distance are discarded, resulting in false predictions of collision based on near-field hazards, rain, and the like. Ä. Reflected pulses can lead.

According to a preferred embodiment, the steps of transmitting, receiving, and determining the reflection distance for each reflected pulse are repeatedly performed to provide a reflection distance function over time for each directional channel. This makes it possible to increase reliability by basing forecasts on more data. Preferably, the method further comprises a step of smoothing each reflection removal function. In this way it can be prevented that discontinuities z. This is because, for example, potential collision objects appear, disappear, or regroup, causing the erroneous appearance of an object approaching at high speed, allowing for false predictions of a collision to be avoided.

According to a preferred embodiment, the method further comprises a step of determining a reflection direction velocity function for each directional channel by differentiating the reflection distance function for the respective directional channel with time. This enables particularly reliable predictions by evaluating the relative speed of an object approaching the vehicle, based on data from both the present and the past.

According to a preferred embodiment, the step of determining the group is performed by selecting adjacent directional channels in which the respective reflection direction velocity functions indicate a substantially equal speed of reflection. This allows the object to be reliably distinguished from other objects positioned in a similar direction but moving at a different speed relative to the vehicle, e.g. From a second object next to the object corresponding to the group.

According to a preferred embodiment, the method further comprises a step of determining a reflection direction acceleration function for each directional channel by differentiating the reflection direction velocity function for the respective directional channel with time. Here, the step of judging whether a collision will take place includes judging whether an impact velocity of the object on the vehicle will be greater than a predetermined impact velocity threshold based on the respective reflection direction acceleration functions and the time-to-collision information. This avoids z. For example, false predictions of a collision when the object slows down as it approaches the vehicle at high speed, such as when the object is another vehicle decelerated by its leader.

According to a preferred development, the method further comprises a step of determining an object center position. The step of determining the time-to-collision information is performed based on the reflection-distance function and the reflection-direction-speed function for a directional channel corresponding to the object center position. In this way, a particularly reliable prediction is possible because the object center position will usually coincide approximately with the centroid of the object whose future motion is predictable based on existing data regarding distance, velocity, and preferably acceleration with the greatest precision.

According to a preferred embodiment, the method further comprises a step of determining a pulse quality index for each reflected pulse of the group. Here, the step of determining the object center position based on the reflected pulse having the highest pulse quality index among the reflected pulses of the group is performed. This leads to a particularly high reliability of predictions, since a high pulse quality indicates that the reflected pulse is probably not due to an artifact.

According to a preferred embodiment, the method further comprises a step of determining a lateral velocity of the object center position in a direction transverse to the directional channel corresponding to the object center position. The step of judging whether a collision will take place involves judging whether the lateral velocity is lower than a predetermined lateral velocity threshold. This makes it possible to avoid false predictions of a collision by setting the lateral speed threshold so as not to judge that a collision will take place when the lateral velocity is sufficiently large for the object, the area covered by the directional channels within the time-to-space Collision information displayed time to leave collision.

Brief description of the figures

1 FIG. 10 is a schematic block diagram of a predictive collision detection apparatus according to an embodiment of the invention; FIG.

2 shows a schematic side view of a vehicle according to an embodiment, which comprises the device for predictive collision detection 1 has installed, with a driving behind another vehicle;

3 shows a schematic plan view of a vehicle according to an embodiment, which comprises several copies of the device for predictive collision detection 1 has installed and drives in the midst of other vehicles on a road;

4 FIG. 10 is a flowchart of a method for predictively detecting a vehicle collision according to an embodiment; FIG.

5 illustrates a step of discarding reflection distance information within the method 4 ;

6 illustrates a step of smoothing a reflection removal function within the method 4 ;

7 FIG. 12 is a graph illustrating a step of differentiating a reflection direction velocity function within the method. FIG 4 , illustrated;

8th Fig. 12 is a schematic plan view illustrating steps of determining a group of adjacent directional channels in which the reflected pulses have been reflected from a same object and determining an object center position within the method 4 ; and

9 FIG. 12 is a schematic plan view illustrating a step of determining a lateral velocity component of the object center position in a direction transverse to that of the object center position within the method. FIG 4 ,

Unless otherwise indicated, like reference numerals refer to like elements throughout the figures.

Detailed description of the embodiments

1 shows, as a schematic block diagram, a device 100 for predictive collision detection for installation in a vehicle 300 (shown in 2 , not in 1 ), together with a potential collision object 200 which is shown here as another vehicle. The device 100 for predictive collision detection comprises a detector device 101 , a control unit 120 and several actuators 191 - 194 for performing different actions in the event of a collision such as closing side windows of the vehicle (first actuator 191 ), Adjusting the backrests of seats (second actor 192 ), Generating a warning tone (third actor 193 ) or pretensioning straps (fourth actor 194 ).

The detector device 101 that z. B. with direction to the rear in the vehicle 300 can be installed, includes an infrared LED 104 and a lens-containing pulse transmitter 102 to send out regular pulses 106 infrared light in a detection field, the z. B. essentially the area behind the rear of the vehicle 300 can cover. 3 shows an example of a vehicle into which two further embodiments 100 ' . 100 '' the device 100 for predictive collision detection 1 are built in when driving on a road 204 corresponding detection fields for detecting rearward in the blind spot on the driver's side moving vehicles 200 ' or to detect vehicles 200 '' Cover that in front of the vehicle 300 drive.

The pulse transmitter 102 the detector device 101 is from a detector device processor 105 controlled in the different programs 103 . 126 for operating the detector device 102 are stored. Furthermore, the detector device 101 a multi-channel sensor 108 which also communicates with the detector setup processor 105 is connected and controlled by this and an infrared filter 109 , a lens 111 and an infrared photosensitive detection plate having a plurality of infrared photosensitive portions, each of which has a directional channel 110 for receiving reflected pulses 107 from a certain direction within the detection field. For example, the detection field may be fan-shaped with an opening angle of 40 ° in a horizontal plane above the ground, divided into e.g. B. sixteen directional channels of 2.5 °, as in 8th and 9 shown. The detector setup processor 105 is configured to execute programs that the functionality of a distance determination device 103 for determining a reflection distance 202 , illustrated in 2 , from the detector device 101 to a reflective object 200 from a duration of the emitted pulses 106 from sending to receiving as reflected pulses 107 , and a pulse quality index detecting means 126 for determining an index indicative of the quality of the reflected pulses, both separately for each directional channel 110 ,

The control unit 120 includes a controller processor 121 with several stored program blocks 112 . 113 . 115 - 119 . 122 - 124 to predict whether a collision between a potential collision object 200 and the vehicle will take place where the device 100 for predictive collision detection, based on that of the detector device 101 provided reflection removal and pulse quality index data. The control unit 120 may be in the same location as the detector device 101 be installed as exemplified in 2 shown or as software in conjunction with other software on any other purpose computer or control device of the vehicle 300 , The individual program blocks 112 . 113 . 115 - 119 . 122 - 124 will be explained below.

The control unit 120 includes a discard facility 113 to discard all data, as in 5 shown, the reflection distances smaller than a minimum distance 502 from Z. B. 0.3 m and reflection distances greater than a maximum distance 500 from Z. B. 50 m after the data for the reflection distance 202 from the detector device 101 were received. This will be a close range 504 and a wide area 506 excluded from the detection field. Also included is a smoothing device 115 for smoothing the separated per directional channel of the detector device 101 about the discarding facility 113 as a function over time 600 received stream of reflection distance data 202 , as in 6 illustrates so that a smoothed reflection removal function 202 ' results. The control unit 120 further comprises a distance differentiating device 117 for differentiating the smoothed reflection removal function 202 ' over time 600 so that a reflection direction velocity function 700 per directional channel 110 results in illustrated in 7 pointing to the direction of the directional channel 110 even parallel velocity component of the reflecting object in the respective directional channel 110 indicates. The control unit 120 further comprises a speed differentiator 118 for differentiating the reflection direction velocity function 700 over time 600 , so per directional channel 110 a reflection direction acceleration function 702 over time 600 which gives to minima and maxima 704 the reflection direction velocity function 700 is equal to zero.

The control unit 120 also includes a grouper 112 to determine how in 8th Illustrates a group 800 of directional channels 110 for which the respective reflection removal function 202 indicates an equal reflection distance, ie in which respective object positions 802 in a much the same reflection distance 202 from the detector device 202 the device 100 were detected for predictive collision detection. The term "equal" here with the meaning of not mutually interpreted by more than one tolerance value, the z. B. may be predetermined based on a typical dimension of a potential collision object to be expected in a given application, such as a typical dimension of a motor vehicle, e.g. B. 2 m, in the case of an application in the automotive field, as for the present embodiment in 2 and 3 is shown. Additionally or alternatively to the use of the reflection removal functions 202 for the individual directional channels, the grouper can 112 be configured, also the reflection direction speed function 700 and / or the reflection direction acceleration function 702 as criteria for identifying the group 800 consulted.

The control unit 120 further comprises an object center position determining means 119 for determining an object center 804 that is considered close to an actual focus of the object 200 Is accepted. In the present embodiment, the Object center position detection device 119 trained, those directional channel 110 in which currently the reflected pulse 107 with the highest quality index, as by the detector device 101 provided, is received. An alternative configuration may provide a directional channel 110 in the center of the group 800 or, in the case of an even number of directional channels in the group 800 , an imaginary position between the two directional channels in the center of the group 800 as the center position 804 select.

The control unit 120 further includes a time-to-collision determiner 123 which is formed from the reflection distance and reflection direction speed function 202 . 700 in the directional channel (s) 100 the middle position 804 a time-to-collision information 150 to calculate, which specifies a period of time, according to which of the group 800 represented object 200 colliding with the vehicle assuming that the directional channel 110 the middle position 804 and the reflection direction velocity 700 stay the same. Furthermore, a transverse speed determination device is included 124 for determining a lateral center velocity 804 of the object 200 in a direction transverse to the directional channel corresponding to the object center position 110 ,

In addition, the controller includes 120 an appraiser 116 to assess whether a collision of the object 200 with the vehicle 300 will take place based on the time-to-collision information 150 obtained by the lateral velocity detector 124 determined lateral velocity and the reflection direction acceleration function 702 ,

The operation of the device 100 for predictive collision detection is referred to below with reference to a in 4 specified flowchart are explained. After switching on in step 442 sends the detector device 101 in step 400 regular pulses of infrared light, z. B. 30 pulses per second on a wavelength of about 900 nm, in the detection field behind the vehicle 300 out. In step 402 receives the detector device 101 at multi-channel sensor 108 reflected pulses 107 in a plurality of directional channels 110 , It is believed that reflected pulses 107 only in a subset of the full number of direction channels of the multichannel sensor 108 be received. In step 404 the processor calculates 101 the detector device 101 a reflection distance 202 separated for each directional channel 110 from which a reflected pulse 107 was received. In step 406 the processor calculates 101 the detector device 101 a pulse quality index for each directional channel 110 from which a reflected pulse 107 was received. Data with the numbers of the directional channels 110 , Values for the reflection distance 202 and pulse quality index values are sent to the controller 120 continuously from the detector device 101 fed.

In step 408 all information is deleted with respect to objects that are considered unimportant because they are either too close to the vehicle 300 or too far away from it. This applies to all data where the reflection distance is below 0.3 m and where it is above 50 m. Of course, these values can be implemented as parameters to simply depend on e.g. B. the type of vehicle 300 and the installation position of the detector device 101 inside the vehicle 300 to be configurable.

In step 410 be for each directional channel 110 the corresponding values of the reflection distance 202 not in step 408 were treated as a function over time and smoothed, especially around discontinuities like in 6 to eliminate, resulting in a smoothed reflection removal function 202 ' results. When a detected object is obscured by a closer object, the distance value in the respective channel suddenly drops, causing a discontinuity as if an object had approached very quickly. For smoothing such discontinuities, for example, a moving-average filter is used which has a buffer of eight time steps, works according to a "first-in-first-out" principle, and per directional channel 110 is applied.

In step 412 becomes the smoothed reflection removal function 202 separated per directional channel 100 after the time 600 differentiated to a reflection direction velocity function 700 for the direction channel to calculate the velocity component of the object parallel to the direction of the directional channel 110 equivalent. Negative speed results that indicate an object leaving the vehicle are ignored. Since relative speeds are calculated, the speed of the vehicle relative to the ground surface is of no concern. In step 414 A moving-average filter having an eight-time-interval buffer smoothes the relative reflection-direction velocities 700 , As in step 410 the filter works according to a "first in - first out" principle and is per directional channel 110 applied.

In step 416 the smooth reflection direction velocity function is separated per direction channel 110 after the time 600 differentiated to a reflection direction acceleration function 702 for the directional channel 110 to calculate, that of an acceleration component of the object parallel to the direction of the directional channel 110 equivalent. This tells you whether the object is getting faster or slowing down. In step 418 A moving-average filter having an eight-time buffer smooths the relative reflection direction accelerations. As in step 410 and 414 the filter works according to a "first in - first out" principle and is per directional channel 110 applied.

In step 420 a group of directional channels corresponding to a same reflecting object is determined as in 8th illustrated. Approaching objects like other vehicles usually occupy more and more directional channels 110 in the course of their approach. Neighboring direction channels, the object data with the same reflection direction speed 700 and reflection distance 202 become as representatives of a single object 200 logically grouped. Corresponding difference thresholds that prescribe when reflection direction velocities 700 and reflection distances 202 are considered the same, are set as parameters in advance.

In step 422 will be under the directional channels 110 the directional channel where the quality index is highest, ie the signal quality of the reflected pulses 107 is highest, as a center position 804 of the object 200 identified accordingly. This ensures sufficient signal availability over the next steps. Furthermore, it can be assumed that in most cases the point of highest quality represents the projected center of gravity of the object.

Using data from step 414 and 422 will be in step 424 calculates time-to-collision information indicating when the object is on the vehicle 300 bounce, assuming no directional and speed changes. That from the time-to-collision information 150 presented time windows is constantly updated.

In step 426 becomes a lateral velocity component of the object center position in a direction parallel to the ground and perpendicular to the direction of the directional channel 110 the middle position 804 calculated. An object with a significant crossover speed will switch between direction channels over time. To the movement of the object 200 transverse to the directions of the directional channels 110 to calculate, the change is center position 804 observed. A high lateral velocity indicates that the object 200 not with the vehicle 300 will collide. So shows 9 an example where a group 800 over time to a new position 800 ' changes, the reflection location 802 ' in different directional channels 110 includes. The velocity vector 900 between the respective middle positions 804 . 804 ' is called the velocity vector of the object 200 relative to the vehicle 300 treated.

In decision step 428 becomes the time-to-collision information 150 compared with a reflection direction threshold for use of a desired action. The reflection direction threshold is a parameter value that is predetermined according to the triggering periods of the respective desired actions, e.g. B. 200 ms for an electromechanical belt tensioner. This step checks whether a collision is to be expected within the time given by the reflection direction threshold, without a possible deceleration of the vehicle or a velocity component transverse to the directions of the directional channels 110 to consider. In the affirmative case ("Y"), decision step proceeds 428 with decision step 430 continued. In the negative case ("N"), a restart follows 440 of the procedure.

In step 430 will be the one in step 426 calculated transverse velocity compared with a cross-direction threshold value, that of the reflection direction velocity 700 depends. This step assesses whether the transverse motion of the object is sufficiently small to cause a collision of the object 200 with the vehicle 300 not prevent. In the affirmative case ("Y"), decision step proceeds 430 with step 432 continued. In the negative case ("N"), a restart follows 440 of the procedure. For example, in 9 the velocity vector 900 Obviously such a significant component transverse to the directions of the directional channels 110 (ie, approximately perpendicular to the centerline of the vehicle 300 ) that a collision is not expected.

In step 432 is calculated using the reflection direction acceleration from step 416 and the time-to-collision information 150 from step 424 calculates a collision velocity. In decision step 434 will determine if the in step 423 calculated collision velocity is greater than a predetermined collision velocity threshold. In the affirmative case ("Y"), decision step proceeds 434 with step 436 continue, in which the measures provided for the collision case are used. In the negative case ("N"), a restart follows 440 of the procedure. Thus, the decision steps combine 428 . 430 . 434 cumulatively testing against three thresholds, before making the final deployment decision.

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

• US 6012008 [0002]

Claims (16)

Method for the anticipatory detection of a collision of a vehicle ( 300 ), with the following steps: sending ( 400 ) of pulses ( 106 ) electromagnetic radiation by means of a vehicle ( 300 ) attached transmitter ( 102 ); Receive ( 402 ) reflected pulses ( 107 ), by means of one on the vehicle ( 300 ) mounted multi-channel sensor ( 108 ), of a plurality of directional channels ( 110 ); Determine ( 420 ), based on the reflected pulses ( 107 ), a group ( 800 ) of adjacent directional channels ( 110 ), in which the reflected pulses ( 107 ) of a same object ( 200 ) were reflected; Determine ( 424 ) time-to-collision information ( 150 ) for the object ( 200 ), based on in the directional channels ( 110 ) the group ( 800 ) received reflected pulses; and judging ( 428 . 430 . 434 ), whether a collision will take place based on the time-to-collision information ( 150 ). The method of claim 1, wherein the step of judging ( 428 . 430 . 434 ) to assess whether a collision will take place ( 428 ) determines whether the time to collision according to the time-to-collision information ( 150 ) is shorter than a predetermined time-to-collision threshold. The method of claim 1 or 2, further comprising a step of determining ( 404 ) a reflection distance ( 202 ) for each reflected pulse, based on a transit time from the emission ( 400 ) to receive ( 402 ) of the reflected pulse ( 107 ), wherein the step of determining ( 420 ) the group ( 800 ) is performed by adjacent directional channels ( 110 ) in which the received reflected pulses ( 107 ) correspond to a substantially equal reflection distance. The method of claim 3, further comprising a step of discarding ( 408 ) reflected pulses ( 107 ), which is a reflection distance ( 202 ) greater than a predetermined maximum distance ( 500 ) and / or reflected pulses corresponding to a reflection distance ( 202 ) smaller than a predetermined minimum distance ( 502 ) correspond. Method according to claim 3 or 4, wherein the sending ( 400 ), receiving ( 402 ) and determining ( 404 ) of the reflection distance ( 202 ) is repeated for each reflected pulse ( 440 ) for each directional channel ( 110 ) a reflection removal ( 202 ) Function over time ( 600 ). The method of claim 5, further comprising a step of smoothing ( 410 ) each reflection removal ( 202 )-Function. The method of claim 5 or 6, further comprising a step of determining ( 412 ) a reflection direction velocity ( 700 ) Function for each directional channel ( 110 ) by differentiating the reflection removal ( 202 ) Function for the respective directional channel ( 110 ) after the time ( 600 ). The method of claim 7, wherein the step of determining ( 420 ) the group ( 800 ) is performed by adjacent directional channels ( 110 ) in which the respective reflection direction velocity ( 700 ) Functions have a substantially equal speed of reflection ( 700 ) Show. The method of claim 7 or 8, further comprising a step of determining ( 416 ) a reflection direction acceleration ( 702 ) Function for each directional channel ( 110 ) by differentiating the reflection direction velocity ( 700 ) Function for the respective directional channel ( 110 ) after the time ( 600 ), the step of judging ( 428 . 430 . 434 ) to assess whether a collision will take place ( 434 ) based on the respective reflection direction acceleration ( 702 ) Functions and the time-to-collision information ( 150 ), whether an impact velocity of the object ( 200 ) on the vehicle ( 300 ) will be greater than a predetermined impact velocity threshold. Method according to one of the preceding claims, further comprising a step of determining ( 422 ) of an object ( 200 ) Middle position ( 804 ), the step of determining ( 424 ) of the time-to-collision information is performed on the basis of the reflection distance ( 202 ) Function and the reflection direction velocity ( 700 ) Function for a directional channel corresponding to the object center position ( 110 ). The method of claim 10, further comprising a step of determining ( 406 ) of a pulse quality index for each reflected pulse of the group ( 800 ), the step of determining ( 422 ) of the object center position ( 804 ) is performed on the basis of the reflected pulse having the highest pulse quality index among the reflected pulses of the group ( 800 ). The method of claim 10 or 11, further comprising a step of determining ( 426 ) a lateral velocity of the object ( 200 ) Middle position ( 804 ) in a direction transverse to that of the object center position ( 804 ) corresponding directional channel, wherein the step of judging ( 428 . 430 . 434 ) to assess whether a collision will take place ( 430 ) includes whether the lateral velocity is lower than a predetermined lateral velocity threshold. Computer program product with computer-executable instructions which, when executed by a computer or a control device ( 120 ) of a vehicle ( 300 ), in which a pulse transmitter ( 102 ) and a multi-channel sensor ( 108 ), the computer or the control unit ( 120 ), in conjunction with the pulse transmitter ( 102 ) and the multi-channel sensor ( 108 ) perform the steps of the method according to any one of the preceding claims. Contraption ( 100 ) for predictive collision detection for a vehicle ( 300 ), comprising: a pulse transmitter ( 102 ) for transmitting pulses ( 106 ) electromagnetic radiation from the vehicle ( 300 ); a multichannel sensor ( 108 ) with a plurality of directional channels ( 110 ), to receive ( 402 ) reflected pulses ( 107 ) at the vehicle ( 300 ); a grouper ( 112 ) for determining, based on the reflected pulses ( 107 ), a group ( 800 ) reflected pulses ( 107 ) from adjacent directional channels ( 110 ), in which the reflected pulses from a same object ( 200 ) were reflected; a time-to-collision investigator ( 123 ) for determining time-to-collision information ( 150 ) for the object ( 200 ), based on in the directional channels ( 110 ) the group ( 800 ) received reflected pulses ( 107 ); and an appraiser ( 116 ) for judging whether a collision will take place based on the time-to-collision information ( 150 ). Contraption ( 100 ) for predictive collision detection according to claim 14, wherein the pulse transmitter ( 102 ) a light emitting diode ( 104 ), in particular an infrared light emitting diode. Vehicle ( 300 ) in which the device ( 100 ) is mounted for predictive collision detection according to claim 14 or 15, in particular to a collision at a rear of the vehicle ( 300 ) to recognize.

Images