DE102013003174A1 - Collision warning apparatus for motor vehicle, particularly for detecting objects in surroundings of motor vehicle, is constructed to change timing of issuance of warning for object that is classified as warning relevant - Google Patents

Abstract

The collision warning apparatus (1) is constructed to change the timing of the issuance of a warning for an object that is classified as a warning relevant. The driving state data of the objects in the surrounding of a motor vehicle (2) is continuously detected, and a predefined time point is determined using the detected data. The predefined time point is a calculated time interval until the collision with the object. The objects are classified as warning relevant, and are located in a predicted driving path of the motor vehicle. The output of the warning issued with the flashing signals. An independent claim is included for a method for operating a collision warning apparatus for a motor vehicle.

Description

The invention relates to a collision warning device for a motor vehicle, which is designed to detect objects in the vicinity of the motor vehicle and to determine whether a detected object outputs flashing signals and to classify detected objects in warning-relevant and non-warning-relevant objects and to issue a warning to a specified Time at an object classified as relevant for warning.

The German patent application DE 10 2008 011 228 A1 shows a method for assisting a vehicle driver, wherein sensors arranged in the vehicle detect driving state variables of the vehicle and a camera of the vehicle detects at least part of the vehicle surroundings. Based on the images captured by the camera, it is determined whether there are other vehicles in the vehicle environment, wherein the detected vehicles is checked whether they emit flashing signals. In this case, a distinction can be made between the output of a direction change flashing light by switching on the flashing lights on one side, the output of a hazard warning light by switching on the flashing lights on both sides and the output of a brake light. This makes it possible to conclude on a characteristic behavior of the detected vehicle or the driver. Due to the fact that the flashing signals of the foreign vehicles located in the vehicle environment are detected, the issuing of warning signals can take place depending on the expected characteristic behavior of the foreign vehicles to the driver and / or an automatic driver assistance program is carried out depending on the expected characteristic behavior of the other vehicle be before a lane change of the other vehicle takes place. In this way, a short reaction time of the driver assistance system is ensured.

In such a method, however, there is the disadvantage that warnings are also output for detected objects which have no or only a low warning relevance. An example of this is a preceding or holding other vehicle, which intends to turn off and announce this by flashing signals. In the conventional method, a warning is also in this situation when a warning threshold has been exceeded.

7 shows a traffic situation showing a motor vehicle with a conventional collision warning device and a foreign vehicle.

A motor vehicle equipped with a conventional collision warning device travels behind a foreign vehicle, the other vehicle moves at the speed V _F , the following motor vehicle moves at the speed V _K. Since the vehicle in front is in the predicted driving tube, it is classified as relevant for the warning. However, since the vehicle ahead does not emit a flashing signal, it is classified as "normal warning relevant" or "default warning relevant".

The invention has for its object to provide a collision warning device, which ensures an optimized warning of detected objects.

To solve this problem is provided according to the invention in a collision warning device of the type mentioned that it is designed to change the timing of the issue of the warning in an object classified as relevant to warnings.

The invention is based on the knowledge of shifting the time of the output of the warning when detecting an object classified as a warning-relevant, so that warnings can be issued later or earlier than at the specified time. This has the advantage that the detection of objects with a high warning relevance, where a quick intervention is required, can be detected earlier, and the detection of objects with a low warning relevance, where no intervention is required , can be done later. The term "fixed time" used does not mean that the time is constant. Instead, this time is based on input variables such. B. determines the driver activity.

In the case of objects located in the vicinity of a motor vehicle, it is possible to distinguish between warning-relevant objects, which are generally vehicles that are in the predicted driving path of the motor vehicle, and non-warning-relevant objects, which are generally vehicles that are not in the predicted driving route of the motor vehicle are distinguished. The predicted driving route is defined as a trajectory of a motor vehicle which describes the predicted course of the course of the motor vehicle.

However, with the warning-relevant objects, it is possible to make a further distinction between reduced warning-relevant and increased warning-relevant objects. So is z. B. a turning vehicle during the turn nor in the predicted driving tube, but is due to the upcoming leaving the driving hose only reduced relevant to the warning. A due to a breakdown with activated hazard warning lights in predicted driving line standing vehicle, however, is due to the danger directly outgoing increased warning relevant.

The collision warning device according to the invention is therefore designed such that the environment of a motor vehicle is detected and determined whether an object detected in the predicted driving route emits flashing signals. The flashing processes can not only be detected, but it can also be differentiated between different types of detected flashing operations. For this purpose, it is determined whether the emitted from the detected objects flashing signals in phase, frequency and number of activated flashing lights differ from each other, so that a distinction between a direction change flashing and a hazard warning is readily possible. Thus, a classification of the detected objects in reduced warning-relevant and increased warning-relevant objects is possible. This has the advantage that the collision warning device recognizes an object in which a direction change flashing is detected as a reduced warning-relevant object, since the object will leave the predicted route, while the collision warning device is a vehicle standing in the predicted route due to a breakdown with the hazard warning system switched on as an increased warning-relevant object recognizes, since this object represents an immediate danger. However, the differentiation between reduced and increased warning-relevant objects is not limited to direction change flashing and hazard warning flashing. Rather, a distinction can be made between all possible blinking operations.

For detecting objects in the vehicle surroundings and the flashing signals emitted by these, the collision warning device comprises a detection device which is either arranged directly on or in the collision warning device or is connected to it wirelessly or by wire. In this way, a transfer of the acquired data to the collision warning device is ensured. The detection device is preferably designed as a conventional camera system, but may basically include any device for optical detection. The acquisition of the data by the detection device takes place continuously, so that any change in the vehicle environment can be detected in real time.

After the detection of a warning-relevant object, it is provided according to the invention to issue a warning at a specified time, wherein the output of the warning can also be shifted to a time which is later or earlier than the specified time. The specified time is preferably related to a remaining time to collision (time to collision, TTC) with a detected, warning-relevant object, which is determined by processing image data of the continuously detected by the detection device environment. So z. For example, the time to issue a warning may be set to 2.5 seconds before a calculated collision with a detected, warning-relevant object. It is possible that for reduced warning-relevant objects, such. As a turning vehicle, in which the driver usually expected no warning, the warning is postponed to a later date, while for increased warning-relevant objects such. As a due to a breakdown with switched on hazard warning lights in the drive line vehicle in which a quick intervention of the driver is required, the warning is postponed to an earlier date.

The shift of the output of the warning to a point in time which is earlier or later than the specified point in time can take place in different variants.

The shift can take place on the one hand for a predetermined absolute period of time. This means that z. For example, in the case where the specified time has been set to be within 2.5 seconds of a collision with a detected warning-relevant object, the output of a warning for an elevated warning-relevant object is shifted forward by 0.2 seconds while the output of a warning for a reduced warning-relevant object is shifted 0.3 seconds backwards (later). In this case, therefore, the warning of an increased warning relevant object 2.7 seconds before the determined time of collision with the detected, while the issue of the warning of a reduced warning-relevant object would be 2.2 seconds before the determined time of collision with the detected, warning-relevant object.

On the other hand, the shift of the output of the warning can also be carried out in such a way to a time before or after the specified time that the shift takes place relative to the determined time of the collision with the detected, warning-relevant object. This means that z. For example, in the case where the specified time has been set at a time interval from a collision with a detected, warning-relevant object of 2.5 seconds, the issuance of a warning for an increased warning-relevant object forward by a factor of 0.08 of the set time (earlier) is moved, while the output of a warning for a reduced warning-relevant object is shifted by a factor of 0.08 backwards (later). In this case, therefore, the warning of an increased warning-relevant object would already be issued 2.5 + 2.5 × 0.08 = 2.7 seconds before the determined time of the collision with the detected, warning-relevant object, while the output of the warning A reduced warning-relevant object would take place only 2.3 seconds before the determined point in time of the collision with the detected, warning-relevant object.

However, it is also readily possible to combine the two variants with each other. In this case, z. For example, the output of a warning for an increased warning-relevant object is advanced (earlier) by a factor of 0.08 at the designated time, while the output of a warning for a reduced warning-relevant object is shifted 0.2 seconds backward (later).

The invention also relates to a motor vehicle equipped with a collision warning device according to the invention.

Furthermore, the invention relates to a method for operating a collision warning device for a motor vehicle.

In the method according to the invention, the objects are detected in the environment of the motor vehicle and it is determined whether a detected object is in the predicted driving tube of the motor vehicle. Vehicles that are located in the predicted driving hose of the motor vehicle are classified as relevant for warning, while vehicles that are not in the predicted driving hose are classified as non-warning-relevant. Subsequently, a further classification of objects classified as relevant for warning takes place in reduced warning-relevant and increased warning-relevant objects, for which purpose flashing signals output by the objects classified as warning-relevant are detected and a differentiation of the flashing signals ensues. Vehicles with activated direction change flashing lights are classified as reduced warning-relevant, since they are still in the predicted driving lane during the turning maneuver, but leave the driving lane soon. On the other hand, vehicles that are present or stationary in the driving tube when the hazard warning lights are activated are classified as being of higher relevance to warnings because of the danger emanating directly from them. However, the differentiation between reduced and increased warning-relevant objects is not limited to a differentiation between direction change flashing and hazard warning flares.

As a result of the detection of an object classified as a warning, a warning is issued at a specified time, the warning is shifted according to the invention in a classified as reduced warning relevant object to a time that is later than the specified time, while the warning at a higher than relevant for warning classified object is moved according to the invention to a time that is earlier than the specified time. The shift of the output of the warning to a point in time which is earlier or later than the specified point in time can also take place here with one of the two variants already described or also with a combination of the two variants.

The collision warning device according to the invention and the method according to the invention for operating such have the advantage that not only warning-relevant objects in the vehicle environment are detected and a warning is issued, but that the detected warning-relevant objects are also classified with regard to their warning relevance and the warning of the respective warning relevance the warning is issued earlier for objects with reduced warning relevance, and the warning appears earlier for objects with increased warning relevance.

Further advantages and details of the invention will be described by means of embodiments with reference to the drawings. The drawings show:

1 a traffic situation, which shows a motor vehicle with a collision warning device according to the invention and a foreign vehicle with activated direction change indicator lights;

2 a flowchart of the method according to the invention in the traffic situation of 1 ;

3 a traffic situation showing the motor vehicle equipped with the collision warning device according to the invention and the other vehicle with the hazard warning lights activated;

4 a flowchart of the method according to the invention in the traffic situation of 3 ;

5 another traffic situation, which shows the equipped with the collision warning device according to the invention motor vehicle and the other vehicle without activated direction indicators;

6 a flowchart of the method according to the invention in the traffic situation of 5 ; and

7 a traffic situation showing a motor vehicle with a collision warning device and a foreign vehicle.

The 1 shows a traffic situation, the one with a collision warning device 1 equipped motor vehicle 2 and a foreign vehicle 4 shows. The car 2 and the foreign vehicle 4 move one behind the other in the right lane 12 a street 11 with the other vehicle 4 precedes at a speed V _F and the motor vehicle 2 with a velocity V _K follows. Due to an upcoming turning maneuver in a turning lane 13 are corresponding direction indicators 5 . 6 . 7 of the foreign vehicle 4 activated.

2 shows a method of operating the collision warning device 1 in the traffic situation of 1 , The collision warning device 1 of the motor vehicle 2 detected via the associated detection device 3 that in the vehicle environment 14 of the motor vehicle 2 third party vehicle 4 (Step 19 ). The detection device has a camera, by image processing and evaluation, a foreign vehicle can be detected, if necessary, the distance and speed of the other vehicle can be determined by the image analysis. As the foreign vehicle 4 as well as the motor vehicle 2 in the right lane 12 the street 11 moves and thus in the predicted driving tube of the motor vehicle 2 located (step 20 ), it gets from the collision warning device 1 classified as relevant for the warning (step 21 ). The collision warning device 1 then also detects the due to the upcoming turn from the direction indicators 5 . 6 . 7 of the foreign vehicle 4 emitted flashing signal (step 22 ) and identified via the detection device 3 the type of the foreign vehicle 4 emitted flashing signal, in the case of in the traffic situation of 1 shown embodiment, a direction change flashing (step 23 ).

Due to the fact that the foreign vehicle 4 during the turning process still in the predicted driving tube of the motor vehicle 2 is moved at the speed V _F , which is less than the speed V _{K of} the motor vehicle 2 is, however, due to the upcoming turning maneuver the driving hose of the motor vehicle 2 Immediately it is abandoned by the collision warning device 1 classified as reduced warning-relevant (step 24 ). As the driver of the motor vehicle 2 because of the reduced warning relevance of the other vehicle 4 a warning about this not necessarily expecting shifts the collision warning device 1 issuing the warning at a time later than the specified time (step 24 ). The shift of the warning time can take place on the one hand for a predetermined period of time and on the other hand relative to the specified warning time.

3 shows a traffic situation that with the collision warning device 1 equipped motor vehicle 2 and the foreign vehicle 4 shows. The car 2 and the foreign vehicle 4 move in a row on a right lane 16 a street 15 , where the other vehicle 4 precedes at a speed V _F and the motor vehicle 2 with a velocity V _K follows. Due to a breakdown or malfunction of the other vehicle 4 goes the speed V _{F of} the foreign vehicle 4 to a stop and the direction indicators 5 . 6 . 7 . 8th . 9 . 10 of the foreign vehicle 4 are activated to output a hazard warning signal.

4 shows a flowchart of the traffic situation of 3 , The collision warning device 1 of the motor vehicle 2 detected via the associated detection device 3 that in the vehicle environment 14 third party vehicle 4 (Step 19 ). As the foreign vehicle 4 as well as the motor vehicle 2 in the right lane 12 the street 11 moves and thus in the predicted driving tube of the motor vehicle 2 located (step 20 ), it gets from the collision warning device 1 classified as relevant for the warning (step 21 ). The collision warning device 1 then also detects the due to the breakdown of the other vehicle 4 from the direction indicators 5 . 6 . 7 . 8th . 9 . 10 emitted flashing signal (step 22 ) and identified via the detection device 3 the type of the foreign vehicle 4 emitted flashing signal, in the case of in the traffic situation of 3 shown a hazard warning (step 26 ).

Due to the fact that the foreign vehicle 4 with the hazard warning signal activated as a result of the breakdown in the predicted driving tube of the motor vehicle 2 with the reducing speed V _F to a stop, and consequently for the motor vehicle 2 represents an obstacle from which immediate danger emanates, since the motor vehicle 2 at the speed V _K , which is significantly greater than the speed V _F , on the other vehicle 4 It is moved by the collision warning device 1 classified as increased warning-relevant (step 27 ). Because of the other vehicle 4 outgoing immediate danger rapid intervention of the driver of the motor vehicle 2 is required, moves the collision warning device 1 issuing the alert at a time earlier than the specified time (step 28 ), so that an earliest possible warning of the increased warning-relevant object is guaranteed. The shift of the warning time can also be done here either by a predetermined period of time or relative to the specified warning time.

5 shows a traffic situation that with the collision warning device 1 equipped motor vehicle 2 and the foreign vehicle 4 shows. The car 2 moves on a right lane 18 a street 17 at a speed V _K while the other vehicle 4 at a velocity V _F in the opposite direction to motor vehicle 2 on an oncoming lane 32 the street 17 emotional.

6 shows a flowchart of the traffic situation of 5 , The collision warning device 1 of the motor vehicle 2 detected via the associated detection device 3 that in the vehicle environment 14 third party vehicle 4 (Step 19 ), the collision warning device 1 determines that the other vehicle 4 on the opposite lane 32 and thus not in the predicted driving tube of the motor vehicle 2 located (step 29 ). Because of this, no increased attention to the other vehicle 4 is required classifies the collision warning device 1 of the motor vehicle 2 the foreign vehicle 4 as not relevant to a warning (step 30 ). As by the driver of the motor vehicle 2 neither increased attention nor intervention is required, gives the collision warning device 1 therefore no warning (step 31 ).

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 102008011228 A1 [0002]

Claims (12)

Collision warning device ( 1 ) for a motor vehicle ( 2 ), which is designed to detect objects in the vicinity of the motor vehicle ( 2 ) and for determining whether a detected object outputs flashing signals and for classifying detected objects into warning-relevant and non-warning-relevant objects and for outputting a warning at a fixed time in an object classified as a warning-relevant object, characterized in that the collision warning device ( 1 ) is adapted to change the time of issue of the warning in an object classified as relevant to warnings. Collision warning device according to claim 1, characterized in that the collision warning device ( 1 ) for the continuous detection of driving condition data of objects in the environment of the motor vehicle ( 2 ) and the specified time can be determined on the basis of the acquired data, wherein the specified time is preferably a calculated time interval until a collision with a detected object. Collision warning device according to claim 1 or 2, characterized in that the collision warning device ( 1 ) is designed such that it objects that are in the predicted driving tube of the motor vehicle ( 2 ) are classified as relevant to warnings. Collision warning device according to one of the preceding claims, characterized in that the collision warning device ( 1 ) is designed such that the output of the warning at a flashing signals issuing and classified as a warning relevant object occurs later than at the specified time, wherein the flashing signal is preferably a direction change flashing. Collision warning device according to one of the preceding claims, characterized in that the collision warning device ( 1 ) is designed such that the output of the warning at a flashing signals issuing and classified as a warning relevant object occurs earlier than at the specific time, wherein the flashing signal is preferably a hazard warning flashing. Collision warning device according to one of the preceding claims, characterized in that the collision warning device ( 1 ) is designed such that the time of issuing the warning is shifted by a predetermined period. Motor vehicle comprising a collision warning device according to one of claims 1 to 6. Method for operating a collision warning device for a motor vehicle, comprising the following steps: - detecting objects in the vicinity of the motor vehicle; - determining whether there is a detected object in the predicted driving tube of the motor vehicle; - determining whether a detected object outputs flashing signals; - classifying captured objects into warning-relevant and non-warning-relevant objects; - Issuing a warning at a specified time in an object classified as relevant for warning; characterized in that the collision warning device alters the time of issue of the warning in an object classified as relevant for warning. A method according to claim 8, characterized in that objects which are located in the predicted driving tube of the motor vehicle are classified as relevant for warning. A method according to claim 8 or 9, characterized in that the output of the warning flashing signals issuing and classified as a warning relevant classified object later than at the specific time, wherein the flashing signal is preferably a direction change flashing. Method according to one of claims 8 to 10, characterized in that the output of the warning is issued to a flashing signals and classified as a warning relevant object earlier than at the specific time, wherein the flashing signal is preferably a hazard warning flashing. Method according to one of claims 8 to 11, characterized in that the time of issuing the warning is postponed by a fixed period.

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