DE102014204168A1 - Preventing evasion accidents when moving - Google Patents

Abstract

The invention relates to a system for preventing accidental accidents. The system is configured to predict a travel path (111) of a vehicle (105), to detect an imminent collision of the vehicle (105) with at least one collision object (101), and a deviation, at least in the case of an impending collision with the collision object (101) of the vehicle (105) from the travel path (111). The travel path (111) can be precalculated in such a way that the vehicle (105) collides with the collision object (101).

Description

The invention relates to a system for preventing accident avoidance according to the preamble of claim 1 and a corresponding method.

It is known that a vehicle driver often intuitionally initiates a steering maneuver in the event of an imminent collision of his vehicle in order to avoid the collision object if the collision is subjectively estimated to be unavoidable by a braking maneuver. The decision to perform the steering maneuver is not based on reasonable, well-considered estimates of the pros and cons of such a maneuver, but is intuitive and motivated by the human survival instinct.

In particular, in the event of imminent collisions with game, a steering maneuver may be inappropriate. Studies have shown that the severity of accidents increases when the driver intuitively evades, as described above. As wild deer often occur in wooded areas, the risk of colliding with a tree is particularly high in such cases. Thus, it was found that a large part of the (for the driver) fatal accidents on the back of the driver is evasive. In addition, it is known that many species of wildlife involved in such accidents do not have enough mass to cause serious or even fatal injury to vehicle occupants in the event of a collision.

Emergency brake assistants are known from the prior art. These initiate a braking maneuver in the event of a collision and / or amplify a braking initiated by the driver. Such systems offer the advantage of being able to initiate the braking maneuver within a fraction of the reaction time of a person.

In addition, systems are known which detect the environment of the vehicle and make depending on steering angle corrections. The publication DE 1 010 277 2 A1 for example, discloses a system that applies a manipulated variable that causes an automatic braking and an automatic steering intervention. The goal is to avoid a collision. For this purpose, the vehicle is automatically braked. Furthermore, an automatic steering intervention is performed such that the vehicle evades an obstacle and a collision is avoided.

Similar systems that provide steering angle intervention for collision avoidance are disclosed in the references WO 12 11 70 44 A2 . WO 12 17 15 47 A1 and DE 10 2009 02 06 49 A1 known.

The object of the invention is to prevent avoidance accidents in the event of an imminent collision of a vehicle with a collision object, bypassing the disadvantages inherent in the solutions known from the prior art. In particular, the severity of the accident should be reduced.

The invention is based on the above-described finding that heavy accidents are often caused by failed evasive maneuvers. Instead of allowing a risky evasive maneuver, in many cases it can be better to consciously accept a collision. This applies in particular when the collision object is an object or an animal and the collision object, in particular the mass of the collision object, is such that a collision of the vehicle with the collision object is smooth for the occupants of the vehicle.

Accordingly, a system according to the invention is designed to predict a travel path of the vehicle, which may in particular be a motor vehicle, such as a car or the commercial vehicle. Track is here synonymous with trajectory. This generally refers to the path or path of movement of an object - here: the vehicle. The guideway predicted by the system is a desired guideway or a guideway that is desired taking into account certain criteria.

In particular, the desired travel path may be such that the vehicle follows a roadway. The trajectory is then preferably precalculated so that it runs equidistant to a roadway boundary. The system preferably comprises means for recognizing the roadway for this purpose. In particular, the detection of the roadway can be done by means of an optical camera.

The desired travel path may deviate from the self-adjusting actual travel path of the vehicle. Actual track designates the actual trajectory of the vehicle.

Furthermore, the system is designed to detect an impending, that is, in the future imminent collision of the vehicle with a collision object. A collision is to be regarded as imminent in the future if it would come to the collision without further intervention in the driving condition of the vehicle, such as steering and / or braking interventions. Thus, the collision would occur if the vehicle would follow a guideway that would be expected in view of the current physical state of the vehicle and / or the road without further intervention in the physical state of the vehicle. Also one possibly expected movement of the collision object can be taken into account.

A collision of the vehicle with the collision object threatens in particular if the collision has become unavoidable, i. if it is technically or physically no longer possible to avoid the collision. This means in particular that it is no longer possible to prevent the collision by a braking and / or avoidance maneuver.

The collision object can be a human, an animal or an object.

Furthermore, the system is designed, at least in the case of an imminent collision with the collision object, to prevent a deviation of the vehicle from the predicted travel path. This means that the vehicle is automatically guided along the guideway. A suitable control variable in this regard is, in particular, the steering angle, that is to say the angle of deviation of steerable wheels of the vehicle from its longitudinal axis. Deviation of the vehicle from the track can be prevented accordingly by automatic intervention in the steering. Such interventions must be suitable to prevent deviations due to steering movements of a driver. Accordingly, the steering of the vehicle, in particular its steering wheel, be acted upon by a torque which counteracts the steering movements of the driver, which would lead to a deviation of the vehicle from the predicted route. This torque must be such that, in spite of the steering movements of the driver, a steering angle is set such that the vehicle follows the predicted route.

Steer-by-wire makes steering angle adjustment particularly easy. The steerable wheels of the vehicle are mechanically decoupled from the steering wheel. The steering angle follows instead a default made by electronic signals. These signals can be selectively modified to guide the vehicle along the predicted route.

According to the invention, the travel path can be precalculated in such a way that a collision with the collision object occurs. This is particularly useful if the collision has less serious consequences than would be expected in a possible evasive maneuver.

Whether a collision of the vehicle with the collision object or an avoidance maneuver is preferable depends strongly on the nature of the collision object. In a preferred embodiment, the system is therefore designed to classify the collision object into a first category and a second category. Classified into the first category are collision objects in which a collision is to be preferred to any avoidance maneuver. In the case of an imminent collision with such collision objects, a deviation of the vehicle from the travel path is accordingly prevented, wherein the travel path can be calculated in advance in such a way that the collision occurs.

On the other hand, if the collision object falls into the second category, a deviation of the vehicle from the predicted travel path is not prevented. In this case, the driver reserves the opportunity to perform an evasive maneuver. Alternatively, as known in the art, the system could automatically perform the evasive maneuver.

If, in a preferred development, the system recognizes that the collision object is a human being, the collision object is classified in the second category. Therefore, if the collision object is a human, no targeted collision should be induced. Accordingly, people fall exclusively in the second category. The first category, on the other hand, does not include humans but only animals and objects.

In a further preferred embodiment, the system performs an accident impact assessment. The system estimates the consequences of a collision of the vehicle with the collision object and the consequences of an accident, which can happen by preventing such a collision, such as an evasive maneuver. If a collision with the collision object appears less dangerous to the occupants of the vehicle, a collision is intentionally brought about on condition that the collision object is not a human being. Accordingly, the system is designed to classify the collision object as dangerous or less dangerous, in particular as dangerous or less dangerous for the occupants of the vehicle. If the collision object has been classified as less dangerous and it is not a human, the collision object is placed in the first category. For the collision objects of this category, a deviation of the vehicle from the guideway is prevented in the event of an imminent collision with the collision object and the guideway can be precalculated so that there is such a collision. A classified as dangerous collision object, however, is classified in the second category.

Preferably, the system can be further developed that there is a delay of the vehicle initiate and / or is able to increase a delay initiated by the driver. In particular, in the case of an imminent collision of the vehicle with the collision object then takes place such a delay.

A method according to the invention comprises the method steps for the implementation of which the above-described system according to the invention is formed. Preferred developments of the method include method steps, for the implementation of which the embodiments described above are used. The indication of the order of the individual process steps is conclusive. In particular, further developments of the method are conceivable in which the specified method steps are carried out in a different order.

An embodiment of the invention is illustrated 1 , In detail shows

1 a threatening collision of a vehicle with game.

1 faces the consequences of the accident, which threaten when wild 101 on a roadway 103 stop or cross them. The driver of a vehicle tries 105 in an imminent collision with the game 101 , the game 101 Dodge, there is a risk that the vehicle 105 to spin. The driveway 107 of the vehicle 105 can then no longer be controlled, causing a momentous collision of the vehicle 105 with a tree 109 threatening. A collision of the vehicle 105 with the game 101 In contrast, it would be preferable, since the consequences of such a collision compared to the collision of the vehicle 105 with the tree 109 are less serious.

To the collision of the vehicle 105 with the tree 109 to prevent the vehicle 105 must do this along a driveway 111 Run along the road 103 is aligned. A possible collision with the game 101 is accepted.

LIST OF REFERENCE NUMBERS

101

Wild

103

roadway

105

vehicle

107

roadway

109

tree

111

roadway

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 10102772 A1 [0005]
• WO 12/77044 A2 [0006]
• WO 12171547 A1 [0006]
• DE 102009020649 A1 [0006]

Claims (6)

System for preventing accidental accidents; wherein the system is designed to provide a travel path ( 111 ) of a vehicle ( 105 ), an impending collision of the vehicle ( 105 ) with at least one collision object ( 101 ), and at least in the event of an impending collision with the collision object ( 101 ) a deviation of the vehicle ( 105 ) from the track ( 111 ), characterized in that the track ( 111 ) can be predicted so that there is a collision of the vehicle ( 105 ) with the collision object ( 101 ) comes. System according to claim 1, characterized in that the system is designed to detect the collision object ( 101 ) into a first category and a second category; in the event of an imminent collision with the collision object ( 101 ) a deviation of the vehicle ( 105 ) from the track ( 111 ) is prevented and the track ( 111 ) can be predicted so that there is a collision with the collision object ( 101 ) comes when the collision object ( 101 ) falls into the first category. System according to the preceding claim, characterized in that the system is designed to detect whether the object of collision ( 101 ) is a human, the collision object ( 101 ) is placed in the second category when the collision object ( 101 ) is about a human being. System according to the preceding claim, characterized in that the system is designed to detect the collision object ( 101 ) classified as dangerous or less dangerous; where the collision object ( 101 ) is placed in the first category when the collision object ( 101 ) was classed as less dangerous and the collision object ( 101 ) is not about a human being; and wherein the collision object ( 101 ) is placed in the second category when the collision object ( 101 ) was classified as dangerous. System according to one of the preceding claims, characterized in that the system is designed, in the event of an impending collision with the collision object ( 101 ), a deceleration of the vehicle ( 105 ) and / or reinforce it. Method for preventing avoidance accidents using the method steps - Detecting an impending collision of a vehicle ( 105 ) with a collision object ( 101 ); - prediction of a travel path ( 111 ); and preventing a deviation of the vehicle ( 105 ) from the driveway; characterized in that the track ( 111 ) can be predicted so that there is a collision with the collision object ( 101 ) comes.

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