DE102013201891A1 - Method for preventing a lateral collision in a vehicle - Google Patents
Method for preventing a lateral collision in a vehicle Download PDFInfo
- Publication number
- DE102013201891A1 DE102013201891A1 DE102013201891.6A DE102013201891A DE102013201891A1 DE 102013201891 A1 DE102013201891 A1 DE 102013201891A1 DE 102013201891 A DE102013201891 A DE 102013201891A DE 102013201891 A1 DE102013201891 A1 DE 102013201891A1
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- DE
- Germany
- Prior art keywords
- vehicle
- collision
- trajectory
- driver
- risk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
Abstract
Die Erfindung betrifft ein Verfahren zur Verhinderung einer seitlichen Kollision bei einem Fahrzeug, bei dem – ein sich seitlich von dem Fahrzeug befindendes, sich bewegendes Objekt erfasst wird, – die künftige Bewegungstrajektorie des Objekts abgeschätzt wird, – ermittelt wird, ob eine Kollisionsgefahr zwischen dem Fahrzeug und dem Objekt besteht und – im Falle einer Kollisionsgefahr eine Ausweichtrajektorie für das Fahrzeug ermittelt wird.The invention relates to a method for preventing a side collision in a vehicle, in which - a moving object located to the side of the vehicle is detected, - the future movement trajectory of the object is estimated, - it is determined whether there is a risk of a collision between the vehicle and the object and - in the event of a collision, an evasive trajectory for the vehicle is determined.
Description
Stand der TechnikState of the art
Aus der
Offenbarung der ErfindungDisclosure of the invention
Die Erfindung betrifft ein Verfahren zur Verhinderung einer seitlichen Kollision bei einem Fahrzeug, insbesondere einem Kraftfahrzeug, bei dem
- – ein sich seitlich von dem Fahrzeug befindendes, sich bewegendes Objekt erfasst wird,
- – die künftige Bewegungstrajektorie des Objekts abgeschätzt wird,
- – anhand der Bewegungstrajektorie ermittelt wird, ob eine Kollisionsgefahr zwischen dem Fahrzeug und dem Objekt besteht und
- – im Falle einer Kollisionsgefahr eine Ausweichtrajektorie für das Fahrzeug ermittelt wird.
- Detecting a moving object located laterally of the vehicle,
- - the future movement trajectory of the object is estimated,
- It is determined on the basis of the movement trajectory whether there is a danger of collision between the vehicle and the object and
- - In the case of a risk of collision evasion trajectory for the vehicle is determined.
Ein wichtiges Einsatzgebiet der Erfindung ist im Bereich der mehrspurigen Straßen. Durch die Erfindung wird es ermöglicht, auf einen riskanten Spurwechsel eines Fremdfahrzeugs zu reagieren und eine Seitenkollision zu vermeiden.An important application of the invention is in the field of multi-lane roads. The invention makes it possible to react to a risky lane change of a foreign vehicle and to avoid a side collision.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass ein derartiger fahrerunabhängiger Eingriff in das Lenk- und/oder Bremssystems des Fahrzeugs erfolgt, dass das Fahrzeug der Ausweichtrajektorie folgt.An advantageous embodiment of the invention is characterized in that such a driver-independent engagement takes place in the steering and / or braking system of the vehicle, that the vehicle follows the evasion trajectory.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass dem Fahrer ein Hinweis gegeben wird, in welche Richtung er das Fahrzeug lenken muss, um der Ausweichtrajektorie zu folgen.An advantageous embodiment of the invention is characterized in that the driver is given an indication in which direction he must steer the vehicle in order to follow the evasion trajectory.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Ermittlung, ob sich seitlich vom Fahrzeug ein Objekt befindet, mittels einer Umfeldsensorik erfolgt.An advantageous embodiment of the invention is characterized in that the determination of whether an object is located laterally from the vehicle takes place by means of an environmental sensor system.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass mittels einer Umfeldsensorik zusätzlich ermittelt wird, ob die Ausweichtrajektorie für das Fahrzeug gefahrlos realisierbar ist oder zu einer anderen Kollisionsgefahr des Fahrzeugs führt und nur im Falle einer gefahrlosen Realisierbarkeit fahrerunabhängig durchgeführt wird.An advantageous embodiment of the invention is characterized in that it is additionally determined by means of an environment sensor, whether the evasion trajectory for the vehicle is safely implemented or leads to a different risk of collision of the vehicle and is performed independently of the driver only in the case of a safe feasibility.
Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind. Bei dieser Vorrichtung handelt es sich insbesondere um ein Steuergerät, welches mit dem Programmcode zur Durchführung der erfindungsgemäßen Verfahren ausgestattet ist.Furthermore, the invention comprises a device containing means which are designed for carrying out the method according to the invention. In particular, this device is a control device which is equipped with the program code for carrying out the method according to the invention.
Der Kern der Erfindung ist das Erkennen einer Kollisionsgefahr durch ein seitliches Objekt und die daraus folgende Aktivierung einer Ausweichassistenzfunktion. Solche Situationen treten typischerweise auf mehrspurigen Straßen auf, wie es in
Das Erkennen einer seitlichen Kollisionsgefahr erfolgt dabei unter Nutzung von Umfeldsensorik, wie z.B. Ultraschall- oder Radarsensoren, und darauf basierter Prädiktion der Hindernisbewegung. Gestützt werden können diese Daten durch weitere Informationen auf der Datenbasis einer Car-to-Car-Kommunikation oder von Kartenmaterial.The detection of a lateral risk of collision is carried out using environment sensors, such. Ultrasonic or radar sensors, and based on prediction of obstacle movement. These data can be supported by further information on the basis of car-to-car communication or map material.
Die Ausweichunterstützung kann bei erkannter Kollisionsgefahr sowohl autonom als auch durch den Fahrer initiiert werden. Die Ausweichunterstützung erfolgt dabei über Lenkungseingriffe, beispielsweise durch Vorgabe eines Lenkwinkels oder Lenkmoments an der Vorder- oder Hinterachse, und/oder über gerichtete Bremseingriffe und/oder über eine Fahrerinfomation z.B. im Kombiinstrument.The backup assistance can be initiated both autonomously and by the driver if a collision hazard is detected. The evasion support takes place via steering interventions, for example by specifying a steering angle or steering torque on the front or rear axle, and / or via directed braking interventions and / or via driver information, eg in the instrument cluster.
Bei der Berechnung der Ausweichtrajektorie kann dabei mittels einer Umfeldsensorik ermittelt werden, ob diese Ausweichtrajektorie ohne die Gefahr einer Kollision mit einem dritten Fahrzeug realisiert werden kann.In the calculation of the avoidance trajectory can be determined by means of an environment sensor, if this avoidance trajectory can be realized without the risk of collision with a third vehicle.
Der Ablauf einer Ausführungsform des erfindungsgemäßen Verfahrens ist in
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- DE 19831071 A1 [0001] DE 19831071 A1 [0001]
Claims (6)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013201891.6A DE102013201891A1 (en) | 2013-02-06 | 2013-02-06 | Method for preventing a lateral collision in a vehicle |
PCT/EP2014/050371 WO2014121973A1 (en) | 2013-02-06 | 2014-01-10 | Method for preventing a motor vehicle from having a lateral collision |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102013201891.6A DE102013201891A1 (en) | 2013-02-06 | 2013-02-06 | Method for preventing a lateral collision in a vehicle |
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DE102013201891A1 true DE102013201891A1 (en) | 2014-08-07 |
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DE102013201891.6A Pending DE102013201891A1 (en) | 2013-02-06 | 2013-02-06 | Method for preventing a lateral collision in a vehicle |
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DE (1) | DE102013201891A1 (en) |
WO (1) | WO2014121973A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016216513A1 (en) | 2016-09-01 | 2018-03-01 | Continental Teves Ag & Co. Ohg | Driver assistance device and method for a vehicle to avoid a lateral collision |
CN108622088A (en) * | 2017-03-16 | 2018-10-09 | 丰田自动车株式会社 | Collision avoidance apparatuses |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115593400B (en) * | 2022-11-30 | 2023-02-28 | 禾多科技(北京)有限公司 | Vehicle control method and device, storage medium and electronic device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19831071A1 (en) | 1998-07-10 | 2000-01-20 | Daimler Chrysler Ag | Steering systems for motor vehicles |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10036276A1 (en) * | 2000-07-26 | 2002-02-07 | Daimler Chrysler Ag | Automatic braking and steering system for a vehicle |
DE102009020649A1 (en) * | 2009-05-08 | 2010-11-18 | Daimler Ag | Method for avoiding collision of motor vehicle towards obstacle, involves producing warning for driver of vehicle optically, acoustically and/or haptically according to different escalation stages when time interval limits are reached |
JP4957752B2 (en) * | 2009-06-12 | 2012-06-20 | トヨタ自動車株式会社 | Course evaluation device |
EP2484566A1 (en) * | 2011-02-08 | 2012-08-08 | Volvo Car Corporation | Brake assist system |
US20130030651A1 (en) * | 2011-07-25 | 2013-01-31 | GM Global Technology Operations LLC | Collision avoidance maneuver through differential braking |
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2013
- 2013-02-06 DE DE102013201891.6A patent/DE102013201891A1/en active Pending
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2014
- 2014-01-10 WO PCT/EP2014/050371 patent/WO2014121973A1/en active Application Filing
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19831071A1 (en) | 1998-07-10 | 2000-01-20 | Daimler Chrysler Ag | Steering systems for motor vehicles |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016216513A1 (en) | 2016-09-01 | 2018-03-01 | Continental Teves Ag & Co. Ohg | Driver assistance device and method for a vehicle to avoid a lateral collision |
CN108622088A (en) * | 2017-03-16 | 2018-10-09 | 丰田自动车株式会社 | Collision avoidance apparatuses |
CN108622088B (en) * | 2017-03-16 | 2021-09-28 | 丰田自动车株式会社 | Collision avoidance device |
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WO2014121973A1 (en) | 2014-08-14 |
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