DE102013013906A1 - Method for controlling at least one component of a motor vehicle for carrying out a protective measure - Google Patents

Abstract

Method for controlling at least one component of a motor vehicle for carrying out a protective measure, this first motor vehicle having in addition to the component a device comprising a control device and at least one environment sensor, which device for determining a collision information describing a possible collision of the motor vehicle with a second motor vehicle based on the Sensor information is used, and wherein the component is controlled in dependence on the determination of the collision information, wherein also on the part of the second motor vehicle (F2) and / or a nearby further motor vehicle (F3) collision information (K2, K3), the eventual collision describes the first motor vehicle (F1) with the second motor vehicle (F2), determined and transmitted via a transmitting device (11) at least to a receiving device (11) of the first motor vehicle (F1), wherein the control device (4) the component (5) in dependence of the two present collision information (K1, K3) controls.

Description

The invention relates to a method for controlling at least one component of a first motor vehicle for carrying out a protective measure, this first motor vehicle having in addition to the component a device comprising a control device and at least one environment sensor, which means for determining a possible collision of the first motor vehicle with a second Motor vehicle describing collision information based on the sensor information is used, and wherein the component is driven in dependence on the determination of the collision information.

Modern motor vehicles sometimes have a sensor-based device, which serves to determine a collision information that describes a possible, pending collision. Such a device or system is often referred to as a "pre-crash system". Corresponding environmental sensors, for example radar sensors, which are installed in the area of the front and rear aprons, and which optionally also serve other driver assistance systems or the like, are used to record corresponding surroundings or surroundings information, in particular information relating to other motor vehicles in the surroundings , On the basis of this information, which includes distance information, speed information, possibly trajectory information, etc., the device or the pre-crash system is able to estimate whether and, if so, when, a possible. Collision occurs. This information is the so-called collision information. It is therefore trying to anticipate an imminent collision to detect based on this information before the accident to trigger appropriate protective measures by appropriate components of the vehicle are controlled. Such components or measures are, for example, reversibly operating electric belt tensioners, windshields and sunroofs which are automatically closed, hazard warning lights, automatic emergency braking or the issuing of warning signals to the driver. All this happens on the basis of an estimated, predicted collision.

Due to various different boundary conditions, it may happen, however, that a potential accident opponent is not detected, for example, because there is a poor reflectivity of the potential accident opponent when using optical systems, so that there is no system reaction. It may also happen that a "ghost object" is detected, that is, that no potential accident opponent in the immediate vicinity is present, however, the environment sensors provide appropriate signals, for example, because a cloud of smoke in the immediate vicinity or the like, resulting in a Faulty triggering of a component control leads. In addition, there is a problem in the accuracy of such a collision prediction, since the exact movement trajectory of the opponent is to say beforehand to estimate whether the vehicles are just passing each other, or if there is a slight collision. Although today's systems are already able to estimate the potential trajectory of the potential collision opponent well, but so far this is done from corresponding, determined by the own vehicle on the sensors movements of the accident opponent, which is why any movement changes z. B. detected by steering or braking only indirectly after evaluation of the sensor signals respectively derived.

For this reason, only components which work reversibly or fault-tolerant actuators as mentioned above (eg reversible electric belt tensioners, disks and roofs, etc.) are actuated. The control of irreversible components such. B. pyrotechnic working airbags. or pyrotechnic belt tensioner or the like is based on a mere collision forecast too unsafe.

The invention is therefore based on the problem to provide a method that allows a more accurate determination of a potential collision and based on a reliable component control.

To solve this problem, it is provided according to the invention in a method of the type mentioned that on the part of the second motor vehicle and / or another nearby motor vehicle collision information, which describes the eventual collision of the first motor vehicle with the second motor vehicle, and over a transmitting device is transmitted at least to a receiving device of the first motor vehicle, wherein the control device controls the component as a function of the two present collision information.

The inventive method is based on a multi-page detection of separate collision information and a corresponding data transmission from vehicle to vehicle. In addition to the own motor vehicle, the second or another further motor vehicle located nearby also has a corresponding device for determining collision information. The second motor vehicle, which is the potential collision opponent, inevitably determines with such a device a corresponding collision information, as well as the own motor vehicle a potential Collision detected with the second motor vehicle. The further motor vehicle, which is in the vicinity, can basically also detect a potential collision with such a device if it is positioned accordingly and both the first and the second motor vehicle are detected via the sensors.

Regardless of whether the second and / or the further motor vehicle determine additional collision information, this additional collision information is in any case automatically transmitted via a transmitting device provided on the second and / or further motor vehicle and transmitted to a receiving device of the first motor vehicle. This receiving device, which of course communicates with the control device associated with the device, receives this further collision information, the control device then evaluates the collision information and can therefore in the final decision whether to control a component or not, both the collision information, via its own device has been determined, as well as the collision information, which was determined via the device of the second and / or further motor vehicle, take into account. The decision is therefore based on two separately determined collision information, it is available as redundant information, so that the decision base is much better informed.

If two collision information comparable in content, each describing a potential collision, are given by the control device, it can now also take appropriate irreversible protective measures based on this redundant information base, such as prophylactically controlling one or more airbags, be they inside the vehicle activate this outside the vehicle, or pyrotechnic belt tensioner and the like. Of course, the usual reversible protective measures, as described in the introduction, are additionally taken.

The method according to the invention can be used both for front, side and rear impact situations, for which purpose, of course, the environment sensors must be present on the own vehicle at the corresponding positions. The communication and thus the exchange of information between the vehicles involved takes place via a corresponding radio link between the vehicles, ie via a so-called car-2-car system, for example on a WLAN basis. This makes it possible to exchange the corresponding information very quickly, which of course can also be generated and processed very quickly on the vehicle side.

In a refinement of the invention, the first motor vehicle can also send the ascertained collision information to the second motor vehicle via a transmission device, wherein a control device of the second motor vehicle, which is part of the local collision detection device, controls a component there for protective measures as a function of the two collision information then present there , This means that in this case, if the second motor vehicle also determines collision information, two collision information is present on the second motor vehicle as a result of the transmission of the collision information of the first motor vehicle, based on which the local control device can then perform the corresponding component control. In this case, both on the part of the first motor vehicle and on the side of the second motor vehicle redundant information bases are given, which allow correspondingly more informed decisions on the part of the control devices.

In a further development of the invention it can be provided that also the first motor vehicle sends the determined collision information to the second motor vehicle via a transmitting device and that a collision information determined by the further motor vehicle concerning a possible collision of the first with the second motor vehicle is transmitted, wherein the control device of the second motor vehicle controls a local component as a function of both collision information then present there. In this case, there are two collision information on the second motor vehicle even if the second motor vehicle either does not have a corresponding detection device, which is designed as a pre-crash system and determines collision information, or if the second motor vehicle for whatever reason despite Existing Pre-Crahs system does not detect collision information. Because it receives on the one hand, the collision information of the first motor vehicle, on the other hand, the collision information of the other motor vehicle, so again, even with "blind" second motor vehicle two separately determined collision information. Once again, based on this broad information base, it is also possible to trigger irreversible components, and of course also the other protective components.

If the second vehicle is also able to determine a collision information, and if such a collision information has also been determined, then even a third collision information is present if that of the further motor vehicle is transmitted. The same applies, of course, if both the second motor vehicle and the further motor vehicle determine a separate collision information and this to the Motor vehicle transmitted, even there would then be given three collision information.

Of course, the respective control device compares the at least two present collision information with regard to their conformity or plausibility. A match is given, for example, when a degree of matching of 90 or 95% is given, or when certain pieces of information match or are plausible, etc. The degree to which two identical collision information is assumed is ultimately freely programmable or definable and, of course, depends on it which concrete content the collision information, which can of course comprise individual partial information, have.

An expedient development of the invention provides, in addition to the collision information, also to transmit further information describing the operation of the respective vehicle and to process it by the control device specified in the first and / or second vehicle. Each vehicle usually determines a plurality of self-data such as information as to whether braking and how strongly, whether steering and in which direction, speed information, etc. It is now convenient, even if this information is transmitted together with the collision information. From this information, the respective counter vehicle can easily determine, for example, the respective trajectory and the like, that is, the information base on this even wider. In its decision as to whether a component is to be controlled, the control device takes into account not only the further collision information but also this additional information.

As a component to be controlled can serve any protective component, so for example, the reversible protective components such as belt tensioners, or windows and sunroof, emergency braking, etc. In particular, it is also possible irreversible acting components such as airbag or pyrotechnic belt tensioner or the like to control.

Further advantages, features and details will become apparent from the embodiments described below and with reference to the drawings. Showing:

1 a schematic representation of a driving situation with two oncoming vehicles with collision potential and

2 a driving situation in the area of a highway entrance with three vehicles, whereby a collision potential between two vehicles is given.

1 shows a typical driving situation, as given for example on federal roads or the like. A first vehicle F ₁ runs on a first lane, a second vehicle F ₂ drives in the opposite direction on the adjacent lane. Each vehicle F ₁ , F ₂ has a facility 2 for determining a collision information, wherein the device 2 a series of environmental sensors 3 includes, which are installed in the example shown each front and their sensor signals to a control device 4 are given. This control device 4 is now able, supported. on this environment information that the sensors 3 provide a potential collision information. This collision information describes a possible collision of the vehicle F ₁ with the vehicle F ₂ .

In addition, each vehicle F ₁ , F _{2 has} a number of components 5 on, for example via the control device 4 can be controlled, or to which separate control devices are associated with the control device 4 communicate. With these components 5 These are components which are activated to carry out protective measures if there is a real danger of collision. This may be, for example, airbags 6 or belt tensioners 7 , also pyrotechnically controlled, acting, or a system 8th to carry out emergency braking or a system 9 to give warning signals, be they in the vehicle, be given about the hazard warning lights. Depending on the predictable collision severity, several or all of these components can 5 be controlled. In the case of airbags 6 these are ignited, in the case of the belt tensioners 7 These are also ignited and tightened, optionally an emergency braking for extreme speed reduction, possibly combined with an automatic steering intervention, on the system 8th or there are warning signals about the system 9 given.

It is assumed that the two vehicles F ₁ , F ₂ comparable components 5 own, but this does not have to be.

Every facility 2 in each vehicle F ₁ , F ₂ now determines a separate collision information K ₁ and K ₂ . This collision information describes the respective predicted collision potential of the own vehicle with the counter vehicle. This means that the collision information K _1, based on the sensor signals detected in the vehicle F ₁ , describes the collision possibilities with the vehicle F ₂ . The collision information K ₂ , based on the Sensor signals provided in the vehicle F ₂ sensors the risk that the vehicle F ₂ collides with the vehicle F ₁ .

In addition, each control device 4 the possibility to own, further information that describe the operation of the vehicle F ₁ or F ₂ closer z. B. via a vehicle bus, tap, for example, a speed information from the speed measuring device 10 , which is shown here only as an example, or information about an already actively initiated braking or steering operation, etc. This individual information is quasi as information I ₁ determined by the vehicle F ₁ , respectively, as information I ₂ on the part of the vehicle F ₂ .

Every facility 2 furthermore has a transmitting and receiving device 11 , which is able to transmit the respectively determined collision information and further information K ₁ , I ₁ or K ₂ , I ₂ via an antenna, so that the respective other vehicle is there via the radio link, for example a W-LAN connection can receive sent information. That is, the vehicle F ₁ receives the collision information K ₂ and the further information I ₂ while the vehicle F ₂ receives the collision information K ₁ and the further information I ₁ .

It follows that immediately after generation of the corresponding information blocks and transmission or reception thereof by each motor vehicle F ₁ , F ₂ two collision information K ₁ , K ₂ and two information blocks I ₁ , I ₂ , which describe the operation of the respective motor vehicle, are present.

The respective control device 4 can now based on the two collision information K ₁ , K ₂ redundant and well-founded capture and decide whether such a high level of security that a risk of collision exists, that appropriate components are to control, in particular irreversible operating components such as airbags or pyrotechnic belt tensioners and similar. Naturally, the corresponding information I ₁ , I ₂ can also be included in this decision, although this information is not necessarily to be ascertained or transmitted. It is only important that an exchange of collision information takes place. Because of this redundant information, each vehicle can now take its own safety measures to either try to avoid the collision entirely or cushion it.

The control device 4 is for this purpose in each case for comparison of the collision information K ₁ , K ₂ formed, wherein a match of the collision information is then assumed, for example, if a sufficient percentage degree of agreement is given, or the like. Only if a sufficient match is found, the redundant, broad decision base is considered given, that is, that the corresponding information must be plausible as far as. If this is not the case, then it can be assumed that there is uncertainty with regard to the collision driver detection, and the automatic control, in particular of irreversible protective measures or components, is omitted.

2 shows a typical example of a driving situation in which two vehicles, namely the vehicles F ₂ and another vehicle F ₃ , drive onto a highway. The vehicle F ₂ already shears on the lane 12 on while the vehicle F _{3 is} still on the driveway 13 located. On the lane 12 However, the first vehicle F ₁ , which the driver of the vehicle F ₂ possibly missed, is already approaching at high speed. It is now assumed that the vehicle F _{1 is} a device 2 includes, so in the end is carried out as in 1 described. The same applies to the vehicle F ₃ , this also has a device 2 for determining a collision information, wherein the device 2 - and this applies to all facilities 2 - Basically designed to be able to detect the collision between two other vehicles as the own vehicle prognosticating. The vehicle F ₂ has only a transmitting and receiving device 11 which is used to exchange data in the context of car-2-car communication, but it does not seem to have any facilities 2 ,

The vehicle F ₁ determines the device 2 a collision information K ₁ , which predicts a potential collision of the vehicle F ₁ with the vehicle F ₂ . Also, corresponding further information I ₁ (airspeed, possible braking, etc.) is determined. This information is transmitted via the transmitting and receiving device 11 transmitted, they can on the part of the vehicle F ₂ via the local transmitting and receiving device 11 also be detected and on the part of a local control device 14 , which among other things appropriate components 5 directly or indirectly can be processed.

At the same time, the vehicle F ₃ also determines a collision information K ₃ which does not describe an intrinsic collision, however, since the vehicles F ₁ and F _{2 are} within the detection range of the environmental sensors 3 of the vehicle F _{3 describes} a potential risk of collision of the vehicle F ₁ with the vehicle F ₂ . This collision information K ₃ is now transmitted via the transmitting and receiving device 11 of the vehicle F ₃ and at least from the transmitting and receiving device 11 receive the vehicle F ₂ , possibly also of the vehicle F _first

In any case, so are the part of the controller 14 of the vehicle F ₂ two collision information K ₁ and K ₃ before, each describing a risk of collision with the vehicle F ₁ . The control device 14 can now evaluate this collision information K ₁ , K ₃ and immediately corresponding. Take action and appropriate components 5 drive. That is, even if the vehicle F _{2 is} "blind" after it does not have over, the vehicle F _{2 is} able to control corresponding protective measures, based on a wide, namely double, information base in the form of the collision information K ₁ and K ₃ has its own collision detection device.

The vehicle F ₁ can also be based on a broad information base, namely the collision information K ₁ , which itself was determined, as well as the received collision information K _{3 of} the vehicle F ₃ , the corresponding control of the components 5 if the collision information is congruent to that extent. Again, the respective affected vehicles can also trigger irreversible components to build up protective measures.

In the event that also the vehicle F ₂ via a collision detection device 2 also a collision information K ₂ and a further information I ₂ , which describe the operation of the vehicle F ₂ , would be generated and can be transmitted accordingly. In this case, therefore, three collision information would be present on the part of the vehicle F ₂ , namely K ₁ , K ₂ and K ₃ , as would be present on the part of the vehicle F ₁ corresponding three collision information K ₁ , K ₂ and K ₃ , each of which is the collision of the vehicle F ₁ with the vehicle F ₂ would describe. It would then be given a triple information base, based on which the respective control device can decide the appropriate control interventions.

As in 2 is shown in parenthesis, the vehicle F _{3 can} also determine their own additional information I ₃ , which can also be transmitted, but need not, since this information ultimately play no roles to each other for the ratio of the vehicles F ₁ and F ₂ to each other.

Claims (5)

Method for controlling at least one component of a first motor vehicle to perform a protective measure, said first motor vehicle next to the component comprises a device comprising a control device and at least one environment sensor, which means based on determination of a collision information describing a possible collision of the first motor vehicle with a second motor vehicle is used on the sensor information, and wherein the component is controlled in dependence on the determination of the collision information, characterized in that also on the part of the second motor vehicle (F ₂ ) and / or a nearby further motor vehicle (F ₃ ) a collision information (K ₂ , K ₃ ), which describes the possible collision of the first motor vehicle (F ₁ ) with the second motor vehicle (F ₂ ), determined and via a transmitting device ( 11 ) at least to a receiving device ( 11 ) of the first motor vehicle (F ₁ ), the control device ( 4 ) the component ( 5 ) in dependence of the two present collision information (K ₁ , K ₃ ) controls. A method according to claim 1, characterized in that the first motor vehicle (F ₁ ) via a transmitting device ( 11 ) transmits the determined collision information (K ₁ ) to the second motor vehicle (F ₂ ), wherein a control device ( 11 ) of the second motor vehicle (F ₂ ) has a component there ( 5 ) as a function of the then present there two collision information (K ₁ , K ₂ ) controls. A method according to claim 1 or 2, characterized in that the first motor vehicle (F ₁ ) via a transmitting device ( 11 ) sends the determined collision information (K ₁ ) to the second motor vehicle (F ₂ ), and that one of the other vehicle (F ₃ ) determined collision information (K ₃ ) concerning a possible collision of the first motor vehicle (F ₁ ) with the second motor vehicle (F ₂ ) also to a receiving device ( 11 ) of the second motor vehicle (F ₂ ), wherein a control device ( 14 ) of the second motor vehicle (F ₂ ) has a component there ( 5 ) as a function of both collision information (K ₁ , K ₂ , K ₃ ) then present there. Method according to claim ₁ , characterized in that in addition to the collision information (K ₁ , K ₂ , K ₃ ) also further information (I ₁ , I ₂ , I ₃ ) indicating the operation of the respective vehicle (F ₁ , F ₂ , F ₃ ) describe, transmitted and arranged by the in the first and / or second vehicle (F ₁ , F ₂ ) control device ( 4 ) are processed. Method according to one of the preceding claims, characterized in that as component ( 5 ) an irreversibly acting component ( 6 . 7 ), in particular an airbag ( 6 ) or a pyrotechnic belt tensioner ( 7 ).

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