DE102014018395A1 - Method for active collision avoidance of a vehicle with an obstacle during reversing - Google Patents

Abstract

The invention relates to a method for active collision avoidance of a vehicle with an obstacle during reversing, in which an environment of the vehicle (1) is monitored on the obstacle (13). In a method in which a collision between the vehicle and the obstacle is prevented, an automatic steering intervention in an electric steering system (3) of the vehicle (1) takes place during the recognition of the obstacle (13) during the reverse travel of the vehicle (1).

Description

The invention relates to a method for active collision avoidance of a vehicle with an obstacle during reversing, in which an environment of the vehicle is monitored on the obstacle, as well as a motor vehicle for carrying out the method.

In passenger cars so-called emergency assistants are known, which actively engage in an electric steering during a forward drive in the motor vehicle. In particular, in articulated trains, semi-trailers or articulated buses, it often comes when turning or maneuvering to collisions with stationary obstacles, such. B. traffic signs, buildings and vegetation. To prevent this, these vehicles have a sensor system which monitors the surroundings of the vehicle. If the vehicle comes too close to such an obstacle during maneuvering, the driver of the vehicle is warned about a display and / or an acoustic signal. In conjunction with an electronic brake, the vehicle is braked to prevent a collision with the obstacle.

The object of the invention is to provide a method for collision avoidance, in which the obstacle is reliably avoided.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.

The object is achieved by a method in that when detecting the obstacle during the reverse drive of the vehicle, an automatic steering intervention in an electric steering of the vehicle. By means of such an automatic steering intervention, the collision between the vehicle and the obstacle, especially in areas of the vehicle is prevented, which can not be viewed by the driver.

Advantageously, the automatic steering intervention by the steering is difficult or blocked. This ensures that the driver can not perform any steering movement that supports the collision between the vehicle and the obstacle.

In one embodiment, the automatic steering intervention takes place by generating a back pressure on the steering. This makes it difficult for the driver to operate the steering, which is why unintentional steering movements are prevented.

In one variant, the automatic steering intervention takes place in that the vehicle automatically drives past the obstacle. This is particularly advantageous when the steering is blocked by the driver and only the electronic system determines a Fahrtrajektorie due to existing sensors in the vehicle, which leads safely past the obstacle.

In one embodiment, an optical and / or acoustic and / or haptic warning signal is output when detecting the obstacle and an existing risk of collision. Thus, the attention of the driver is directed to the existing risk of collision, while also being pointed to the automatic intervention in the steering system.

Advantageously, at least one sensor and / or card information are used to monitor the environment of the vehicle backing up. In particular, from the combination of sensor information and global map information can ensure accurate determination of the position of the obstacle, which firmly crosses the travel of the vehicle, which supports an accurate determination of the active steering intervention.

In a further embodiment, an estimate of a collision of the vehicle with the obstacle, a geometry of the vehicle is taken into account. This is particularly important in articulated trains, semi-trailers or articulated buses, as they consist of at least two vehicle parts that are at an angle to each other. In such vehicles, the risk of collision by the driver alone can not always be estimated.

A development of the invention relates to a vehicle comprising an electric steering and a device for monitoring an environment of the vehicle. In such a vehicle, a collision hazard with a stationary obstacle is surely inhibited when the electric steering and the rear-side monitoring device are connected to an automatic-steering input unit when the obstacle is detected during reverse travel of the vehicle. This has the advantage that a collision between the vehicle and the obstacle is reliably prevented.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. Described and / or figurative illustrated features may form the subject of the invention itself or in any meaningful combination, optionally also independent of the claims, and may in particular additionally be the subject of one or more separate application / s. The same, similar and / or functionally identical parts are provided with the same reference numerals.

It shows:

1 An embodiment of the vehicle according to the invention.

In 1 an inventive vehicle is shown, which is an electric steering 3 includes. The back of the vehicle is equipped with several sensors 5 equipped, which the environment behind the vehicle 1 to scan. For the sake of simplicity, only one sensor is in the figure 5 shown. The electric steering 3 and the sensor 5 are with one unit 7 for automatic intervention in the steering 3 connected to a steering wheel 9 attacks. The unit 7 for automatic intervention in the steering 3 has a vehicle geometry detection electronics 11 on.

In this vehicle geometry detection electronics 11 it may be a memory unit in which the data of the vehicle geometry are stored, which were determined during the development of the vehicle. Alternatively, however, a vehicle identification number FIN can also be stored in the memory, by means of which a vehicle geometry, for example a limousine, a station wagon or an articulated bus, can be easily determined.

In the design of the vehicle 1 with a trailer or a joint, as in articulated trains or articulated buses, it is necessary to determine the current bending angle between the two vehicle units. Such a current bending angle is determined by means of a sensor which is fed to a bending angle control. Thus, the position of the rear part of the vehicle to the front steered vehicle part can be determined. Alternatively, the bending angle can be estimated by means of a mirror camera system. Advantageously, however, in particular in such two-part motor vehicles there may be a trailer-to-track communication in which data is exchanged between the two vehicle parts by means of radio signals. This method can be used to determine the current overall vehicle geometry, including the bend angle.

When reversing the vehicle 1 scans the sensor 5 the rear environment of the vehicle 1 on a fixed obstacle 13 , Such a fixed obstacle 13 may be, for example, a vegetation, a building or a traffic sign. Starting from the detection of the obstacle 13 the local position of the vehicle is determined. To determine this position, the sensor measures 5 For example, a radar sensor, the environment. In addition to radar sensors but also ultrasonic sensors that are used for parking or lane change assistants, or camera systems that are used to create a bird's eye view, can be used.

But it is also possible, not just a current measurement in the localization of the vehicle 1 but to take measurements during previous journeys in the same area. In addition, however, information from local maps, such as occupancy maps, or from global maps can be used, which are compared with the measurements. The measurements of the environmental sensors are integrated into this map information and stored over several trips. To enable a correct cartography as well as the vehicle 1 setting in a correct relation to the environment, a calibration of the sensors themselves and on the vehicle is necessary.

Depending on the vehicle used, a precise self-localization or own motion estimation is necessary. A separation between static and dynamic obstacles is necessary in order to correctly interpret the environment so that the vehicle can react adequately.

In evaluation of this environmental analysis, the vehicle is on a collision course with the detected obstacle 13 and will this be the unit 7 detected for steering intervention, it is done by this unit 7 an intervention in the electric steering 3 and thus in the transverse guidance of the vehicle 1 , This is done to the effect that on the steering wheel 9 a back pressure is generated, so that the driver is difficult to steer or the steering 3 is completely blocked. So that the driver is advised that this is a deliberate reaction of the vehicle 1 is on the instantaneous driving maneuver is done at the same time a visual and / or audible warning, with which the attention of the driver is directed to the dangerous situation.

In a particularly comfortable embodiment, the unit determines 7 for automatic intervention in the electric steering autonomously a driving trajectory from the measured distances between the vehicle 1 and the obstacle 13 so that the vehicle 1 automatically without intervention of the driver on the obstacle 13 is deflected and thus a collision is avoided.

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those skilled in the art, having the benefit of the disclosed inventive concept, can make various changes, for example, to the function or arrangement of individual elements recited in an exemplary embodiment, without Protection area defined by the claims and their legal equivalents, such as further explanations in the description.

Claims (8)

Method for active collision avoidance of a vehicle with an obstacle during reversing, in which an environment of the vehicle ( 1 ) on the obstacle ( 13 ) is monitored, characterized in that when detecting the obstacle ( 13 ) during the reverse drive of the vehicle ( 1 ) an automatic steering intervention in an electric steering ( 3 ) of the vehicle ( 1 ) he follows. A method according to claim 1, characterized in that the automatic steering intervention takes place by the steering ( 3 ) is difficult or blocked. A method according to claim 2, characterized in that the automatic steering intervention by generating a back pressure on the steering ( 3 ) he follows. A method according to claim 1, characterized in that the automatic steering intervention takes place by the vehicle ( 1 ) automatically on the obstacle ( 13 ) drives by. Method according to at least one of the preceding claims, characterized in that during the detection of the obstacle ( 13 ) an optical and / or acoustic and / or haptic warning signal is output. Method according to at least one of the preceding claims, characterized in that for monitoring the environment of the vehicle backing up ( 1 ) at least one sensor ( 5 ) and / or card information. Method according to at least one of the preceding claims, characterized in that in an estimation of a collision of the vehicle with the obstacle ( 13 ) a geometry of the vehicle ( 1 ) is taken into account. Vehicle comprising an electric steering system ( 3 ) and a facility ( 5 ) for monitoring an environment of the vehicle ( 1 ), characterized in that the electric steering ( 3 ) and the facility ( 5 ) for monitoring the back environment with a unit ( 7 ) for automatic intervention in the electric steering ( 3 ) when detecting the obstacle ( 13 ) during a reverse drive of the vehicle ( 1 ) are connected.

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