DE102014220685A1 - Providing a minimum distance specification in a motor vehicle - Google Patents

Abstract

The invention relates to a method for providing a minimum distance to a in the direction of travel in front of a motor vehicle (1) located road users; comprising the following steps: - providing traffic data about road users located in a surrounding area of the motor vehicle (1); - Providing route data via one or more in the direction of travel in front of the motor vehicle (1) located track sections and a presence of a free space (F); - Specifying a minimum distance to a in the direction of travel in front of the motor vehicle (1) located further road users (10) depending on the presence of a free space (F) in an upstream monitoring area (U).

Description

Technical area

The invention relates to a method for providing an indication of a minimum distance to a road user in front of the motor vehicle in the direction of travel for carrying out a fully automatic distance control or for indicating corresponding driving instructions to a driver of the motor vehicle.

State of the art

Systems are known which determine an indication of a minimum distance to a road user located in front of the motor vehicle in the direction of travel. Such a minimum distance indication may be taken into account in the operation of the motor vehicle, for example by warning a driver of the motor vehicle when the minimum distance is not reached, or by automatically setting a distance based on the minimum distance, e.g. is maintained by means of a distance control by driving interventions in order to increase safety when driving the motor vehicle.

From the publication DE 10 2012 013 764 A1 For example, a method for operating a distance control system of a vehicle is known in which a distance between the vehicle and a target object located in front of the vehicle is regulated by accelerating or decelerating system interventions. At a target loss of the target object and at a detected predetermined condition, at least one acceleration of the vehicle is suppressed or a deceleration of the vehicle is initiated. As a predetermined condition, a turning intention of a vehicle driver of the vehicle can be detected at least by evaluating a direction signal.

Furthermore, from the DE 10 2007 036 417 A1 discloses a method for operating a distance control system for vehicles, wherein the distance between a vehicle and a target located in front of the vehicle is controlled depending on the situation, taking account of predictive track data by accelerating or decelerating system interventions. The predictive route data is taken into account in such a way that an event area which corresponds to a certain distance area before a topological event marking a potential danger location is determined in advance and an event mode is activated in the case of a target loss of the destination object occurring within the event area which suppresses the implementation of accelerating system interventions.

It is an object of the present invention to specify a method for providing an indication of a minimum distance to a road user in front of the motor vehicle in the direction of travel, in particular obstruction of other road users to be avoided.

Disclosure of the invention

This object is achieved by the method for providing an indication of a minimum distance to a road user in the direction of travel in front of the motor vehicle according to claim 1 and by the device and the motor vehicle according to the independent claims.

Further embodiments are specified in the dependent claims.

• – Bereitstellen von Verkehrsdaten über in einem Umgebungsbereich des Kraftfahrzeugs befindliche Verkehrsteilnehmer;
• – Bereitstellen von Streckendaten über einen oder mehreren in Fahrtrichtung vor dem Kraftfahrzeug befindlichen Streckenabschnitten und einem Vorhandensein eines Freihaltebereichs; und
• – Vorgeben eines Mindestabstands zu einem sich in Fahrtrichtung vor dem Kraftfahrzeug befindlichen weiteren Verkehrsteilnehmer abhängig von dem Vorhandensein eines Freihaltebereichs in einem vorausliegenden Überwachungsbereich.

According to a first aspect, a method is provided for providing a minimum distance to a road user in the direction of travel in front of the motor vehicle; with the following steps:

• - Providing traffic data about in a surrounding area of the motor vehicle located road users;
• - Providing route data via one or more located in the direction of travel in front of the motor vehicle sections and a presence of a free space; and
• Specifying a minimum distance to a further road user located in front of the motor vehicle in the direction of travel depending on the presence of a free space in an upstream monitoring area.

The above method provides for setting the distance to a road user in the direction of travel in front of the motor vehicle so that if the road user stops in such a way that the motor vehicle would come to a stop in the free parking area, can be avoided.

The clearance area may correspond to an area in which the motor vehicle should not stop, as this may prevent other road users from continuing or threading. In particular, the free space may correspond to an intersection of an intersection, an exit area before an exit, in particular before an exit for emergency vehicles or a junction area of an intersection on the lane traveled by the motor vehicle.

Furthermore, it can be provided that, depending on a free space lying ahead For example, due to an upstream junction or intersection and depending on a movement speed of the vehicle in front of the vehicle in the direction of travel to be maintained minimum distance to the vehicle in the direction of travel road user is specified. As a result, it can be prevented that the motor vehicle enters the free-fall area and comes to a standstill in the free-fall area, for example at an intersection or at an intersection, so that crossing or entering road users are not blocked.

Therefore, if it is established on the basis of the given route data that a free-fall area is ahead, it is determined on the basis of the driving mode of the preceding vehicle whether there is a high probability that the immediately preceding motor vehicle could come to a standstill in the free-fall area. If this is the case, the specification of the minimum distance is adapted to the in the direction of travel in front of the motor vehicle road users, so that when driving in accordance with the minimum distance indication a retraction is prohibited in the free space.

Furthermore, the minimum distance can be determined as a function of the length of the clearance area, of the type of further traffic participant located in front of the motor vehicle in the direction of travel, and of further route parameters, in particular curves lying in front of the clearance area.

Alternatively, the minimum distance can be specified as a constant size.

It can be provided that a fully automatic distance control of the motor vehicle is provided, wherein the distance to be regulated is limited to the minimum distance.

Alternatively, the minimum distance can be signaled as a driving recommendation to a driver of the motor vehicle, in particular by means of a head-up display.

According to one embodiment, the minimum distance can be specified depending on whether the further road users located in front of the motor vehicle in the direction of travel is or will stop with a high probability, so that the motor vehicle must stop in the free space.

In particular, a high probability of stopping the further road user can be detected by means of a threshold value comparison of a probability measure with a predetermined probability threshold, wherein the probability measure is based on a movement speed of the further road users located in the direction of travel in front of the motor vehicle, and in particular a traffic situation prevailing in front of this further road user is determined.

Thereby, a retraction of the motor vehicle can be prevented in the free range when moving in the direction of the motor vehicle road users in the free space moves slowly and the danger exists, in particular depending on the traffic and the movement of other road users, such as a car driving ahead.

• – um Verkehrsdaten über in einem Umgebungsbereich des Kraftfahrzeugs befindliche Verkehrsteilnehmer von einer Verkehrserfassungseinheit zu erhalten;
• – um Streckendaten über einen oder mehrere in Fahrtrichtung vor dem Kraftfahrzeug befindlichen Streckenabschnitt und einem Vorhandensein eines Freihaltebereichs aus bereitgestellten Kartendaten zu erhalten; und
• – um einen Mindestabstand zu einem sich in Fahrtrichtung vor dem Kraftfahrzeug befindlichen weiteren Verkehrsteilnehmer abhängig von dem Vorhandensein des Freihaltebereichs in einem vorausliegenden Überwachungsbereich vorzugeben.

According to a further aspect, a device, in particular a control device, is provided for providing a minimum distance to a road user located in front of the motor vehicle in the direction of travel; wherein the device is formed:

• To obtain traffic data about traffic participants located in a surrounding area of the motor vehicle from a traffic detection unit;
• To obtain route data via one or more route sections in the direction of travel in front of the motor vehicle and a presence of a free area from provided map data; and
• - To pretend a minimum distance to a located in the direction of travel in front of the motor vehicle further road users depending on the presence of the free space in a preceding monitoring area.

• – eine Verkehrserfassungseinheit, die ausgebildet ist, um Verkehrsdaten über in einem Umgebungsbereich des Kraftfahrzeugs befindliche Verkehrsteilnehmer bereitzustellen;
• – eine Einrichtung, insbesondere eine Umgebungserfassungseinheit und/oder einen Kartenspeicher, die ausgebildet ist, um Streckendaten über einen oder mehrere in Fahrtrichtung vor dem Kraftfahrzeug befindlichen Streckenabschnitt und einem Vorhandensein eines Freihaltebereichs aus bereitgestellten Kartendaten bereitzustellen;
• – eine Steuereinheit, die ausgebildet ist, um einen Mindestabstand zu einem sich in Fahrtrichtung vor dem Kraftfahrzeug befindlichen weiteren Verkehrsteilnehmer, abhängig von dem Vorhandensein des Freihaltebereichs in einem vorausliegenden Überwachungsbereich vorzugeben.

According to a further aspect, a motor vehicle is provided, comprising:

• A traffic detection unit configured to provide traffic data about road users located in a surrounding area of the motor vehicle;
• - A device, in particular an environment detection unit and / or a map memory, which is designed to provide route data via one or more in the direction of travel in front of the motor vehicle track section and a presence of a free area from provided map data;
• - A control unit, which is designed to specify a minimum distance to a located in the direction of travel in front of the motor vehicle other road users, depending on the presence of the free space in a preceding monitoring area.

Brief description of the drawings

Embodiments are explained below with reference to the following drawings. Show it:

1 a motor vehicle with a device for setting a minimum distance to a vehicle ahead;

2 a traffic situation shown, in which free space corresponds to a crossing area; and

3 a flowchart for illustrating a method for operating the motor vehicle of 1 ,

Description of embodiments

In 1 is schematically a motor vehicle 1 shown. The car 1 has a drive unit 2 for providing a drive torque for driving the motor vehicle 1 and a braking system 3 for providing a braking torque. The drive unit 2 can via a control unit 4 be controlled so that a predetermined target torque, for example, based on an example given via an accelerator pedal driver request torque from the drive unit 2 provided. Furthermore, the brake system 3 be controlled for example via an operation of a brake pedal.

The control unit 4 can also be designed to the drive motor 2 and the brake system 3 operate automatically to drive a given speed or a given speed profile.

Furthermore, a traffic detection unit 5 provided that provides traffic data. The traffic detection unit 5 can by using one or more capture devices 51 , such as a radar detection device, a Lidarerfassungseinrichtung and / or one or more optical cameras, other road users in the environment of the motor vehicle 1 recognize and in particular receive information about the position, the direction of movement and the speed of movement of the road users located in the direction of travel.

Furthermore, by means of the detection device 51 , in particular the radar detection device or the lidar detection device, the instantaneous distance to a in the direction of travel in front of the motor vehicle 1 located road users, in particular to a preceding or standing in front of the motor vehicle further motor vehicle detected or determined. The position and / or the distance, the direction of movement and the speed of movement in the direction of travel in front of the motor vehicle 1 The road users are in the form of traffic data from the control unit 4 provided.

The traffic detection device 5 can continue a communication device 52 contain the position and condition of the motor vehicle 1 other vehicles provides and position and condition of in the environment of the motor vehicle 1 is received further road users.

Furthermore, the controller 4 supplied information about the road topology as route data, in particular from a map memory 6 which may be part of a driver assistance system or navigation system, for example. The map memory provides digital map data that can map, for example, a road network. In addition, map data may describe local routes stored in the motor vehicle or made available externally on demand, such as intersection information, micro-maps, such as car parks, and the like.

Furthermore, an environment detection unit 7 be provided, which detects the course of roads or the infrastructural environment to recognize in the direction of travel upstream junctions or intersections and their size. The route data contain, in particular within a monitoring area U, information on the course of track sections ahead in the direction of travel, including the free-parking areas located there. Additionally or alternatively, free-space areas may be automatically determined and determined from the map data as the intersection and confluence areas between link sections.

The monitoring area U can be fixed, for example a range of 0 to 200 m, in particular 0 to 100 m, along the direction of travel of the next most probable route. Alternatively, the monitoring area U may also vary depending on a vehicle speed of a traffic volume, weather conditions and the like as an area extending along the traveling direction of the motor vehicle 1 is set.

Based on the above-described equipment of the motor vehicle 1 can now in the control unit 4 a procedure be carried out whereby the distance to a in the direction of travel in front of the motor vehicle 1 located further Road user, ie, a preceding motor vehicle or standing in front of the motor vehicle further motor vehicle depending on an existence and a length of a free space lying ahead F is performed.

A clearance area may correspond to an area in which the motor vehicle should not or may not stop, as this may prevent other road users from crossing or being threaded into the traffic lane traveled by the motor vehicle and thus be prevented from continuing. The clearance area may, for example, correspond to an area of an intersection, an exit, in particular for emergency vehicles or an intersection. As in the 2 shown traffic situation, the free space F correspond to an intersection area.

The aim is to prevent the motor vehicle 1 comes to a standstill area F in a free space and thus hinders einmündenden or crossing traffic.

To achieve this, a minimum distance to one in the direction of travel in front of the motor vehicle 1 located further road users 10 , in particular a vehicle in front or in front of the vehicle in the direction of travel 1 holding another motor vehicle 10 , certainly. In particular, it is prevented that a free-stop area F is retracted if it can not be ensured that the free-space area F is moving quickly, ie with one of the length (in the direction of travel of the motor vehicle 1 ) of the free space F dependent period of time, is left again.

Such a minimum distance can be the basis for a fully automatic distance control to a in the direction of travel in front of the motor vehicle 1 located further motor vehicle 10 be. Alternatively, based on the minimum distance, a driving recommendation can be acoustically, visually and / or haptically signaled to the driver of the motor vehicle, which prompts the driver not to drive into the free-fall area F. In particular, when providing a head-up display, the clearance area F to be cleared on the infrastructure can also be clarified, for example by a correspondingly colored projection onto the road section ahead.

Combined with 3 A method for determining a minimum distance is described below. First of all, all information required to establish a minimum distance is provided. This comprises in step S1 the detection and the provision of traffic data by the traffic detection unit 5 , The traffic data contain information about those in the environment of the motor vehicle 1 located further road users, and in particular information about existence, direction of movement and speed of movement over one or more in the direction of travel in front of the motor vehicle 1 located further motor vehicle 10 , As described above, this information can be received via its own sensors or via a suitable communication device from the outside, for example from the other motor vehicles or stationary base stations.

In step S2, at least for the monitoring area U current route data is provided, which are taken from the map data that can be provided by the map memory. Furthermore, the route data may be provided by information of the environment detection unit 7 be supplemented, which detects the course of roads or the infrastructural environment in the surrounding area U, to detect in the direction of travel ahead junctions or intersections and their size. Also, by the environment detection unit 7 Information on the preceding free-hold areas can be received externally via a radio data connection, which are taken into account in the route data.

In step S3 is checked based on the route data, whether in the particular, in the direction of travel in front of the motor vehicle 1 lying monitoring range U is a free space F, the motor vehicle 1 should happen. If a free-fall area F is detected in the monitoring area U (alternative: yes), then the method is continued with step S4, otherwise the system jumps back to step S1, thereby determining a cyclical monitoring of the monitoring area U to free-space areas F.

The route data may include information about the dimensions of the clearance area F. In particular, the length of the free space F in the direction of travel should be determined.

On the basis of the traffic data is a speed of the vehicle ahead driving another 10 is known, and it is now determined in step S4, whether a possibility or high probability exists that the preceding vehicle 10 will come to a stop by a necessary braking or is already standing, so that the motor vehicle 1 must stop in the free space. For this purpose, it can be checked, for example, whether the vehicle in front is driving 10 is due to the necessary braking in a range to come to a stop or already in the area, resulting from the clearance area F and the vehicle length of the vehicle in front 10 results. In particular, the area corresponds to a vehicle length in the direction of travel before the motor vehicle 1 located further motor vehicle 10 shifted free space. In other words, when checking, whether in the direction of travel in front of the motor vehicle 1 located further road users on arrival of the motor vehicle 1 could stand so in front of the free space F, found that when entering the motor vehicle 1 to be blocked in the Freihaltebereich crossing or einmündende road users, so should a retraction of the motor vehicle 1 be prevented in the clearance area F.

In particular, a high probability can be detected by means of a threshold value comparison of a probability measure with a predetermined probability threshold value. In the probability measure, the movement speeds of others immediately before the preceding vehicle 10 moving vehicles or the positions directly in front of the vehicle in front standing motor vehicles are taken into account.

There is a possibility or a high probability that the preceding vehicle 10 will come to a halt by a necessary braking or is already standing, so that the motor vehicle 1 in the clearance area F, the process proceeds to step S5, otherwise it returns to step S1.

In step S5, the minimum distance is set. The minimum distance can be fixed, in particular if an indication of a length of the free space is not available. For example, the minimum distance can be set to a range between 6 and 15 m, in particular 10 m. Alternatively, the minimum distance can be set as a function of the length of the clearance area F, in particular to the length of the clearance area F or to the length of a clearance area F extended by a predetermined offset value.

If a distance is predetermined by other systems, for example in an automatic distance control, then the distance specified there is limited by the minimum distance such that it is set to at least the length of the minimum distance. In this way it can be ensured that the motor vehicle 1 does not enter the clearance area F if there is a possibility that the preceding vehicle 10 stops in the detention area F or stops immediately after the detention area F, so that the motor vehicle 1 can not pass through the free space F without stopping.

In other embodiments, the minimum distance based on the current road topology, such as junctions or intersections, in curves and the like can be adjusted to take into account even when not fully automatic distance control, ie with appropriate signaling of the minimum distance to the driver, a reaction time of the driver. In this way, a driver who would only realize late that a preceding vehicle 10 in a free space F, for example, a crossing stops, even with a delayed reaction time retraction of the motor vehicle 1 into the free area F prevent.

Furthermore, the minimum distance can be varied as a function of the traffic participants crossing into the free-fall area or entering the latter, in particular types of motor vehicles. For example, for trucks, buses and vehicles with trailers, the minimum distance to be selected by a corresponding amount of safety greater than is the case for cars.

In particular, the above method causes, when recognizing that in the direction of travel in front of the motor vehicle 1 If there is still sufficient space available for road users after the end of the free-range area (taking into account a stand spacing to be observed for stationary vehicles), then a corresponding limitation of the minimum distance can be dispensed with.

Detects the control unit 4 using the traffic detection unit 5 provided traffic data that a vehicle same direction of travel enters or retracts on an adjacent lane in the free area F and comes to a standstill or come to a standstill, can be waived to comply with the minimum distance or the observance of the minimum distance can be prevented. In this case, the motor vehicle 1 now also enter the free area, as a blocking of a crossing or inflowing traffic by the own motor vehicle 1 is excluded.

The route data may further receive information that takes into account exit requests from yard exits that are not marked by the map data in the form of free areas. For this purpose, a request of another road user can be detected via the traffic data, indicating the location of an exit from which he wants to extend. This leads to the creation of a temporary free space. Approaching the motor vehicle 1 This temporary clearance area, a minimum distance can be specified according to the above method. In this way, a distance to a vehicle in front can be maintained, so that the requesting additional road users from the exit in the resulting gap in front of the motor vehicle 1 can retract.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

drive unit

3

braking system

4

control unit

5

Traffic acquisition unit

51

detector

52

communicator

6

card memory

7

Environment detecting unit

10

Preceding vehicle

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 102012013764 A1 [0003]
• DE 102007036417 A1 [0004]

Claims (10)

Method for providing a minimum distance to a vehicle in front of a motor vehicle ( 1 ) road users; comprising the following steps: - providing traffic data about in a surrounding area of the motor vehicle ( 1 ) road users; Providing route data via one or more in the direction of travel in front of the motor vehicle ( 1 ) and a presence of a free space (F); - Specifying a minimum distance to a in the direction of travel in front of the motor vehicle ( 1 ) further road users ( 10 ) depending on the presence of a free space (F) in a preceding surveillance area (U). Method according to claim 1, wherein the minimum distance depends on the length of the free-space area (F), on the type of travel in front of the motor vehicle ( 1 ) and further route parameters, in particular in front of the clearance area (F) lying curves is determined.  The method of claim 1, wherein the minimum distance is given as a constant size. Method according to one of claims 1 to 3, wherein a fully automatic distance control of the motor vehicle ( 1 ) is provided, wherein to be regulated distance is limited to the minimum distance. Method according to one of claims 1 to 3, wherein the minimum distance as a driving recommendation to a driver of the motor vehicle ( 1 ) is signaled. Method according to one of claims 1 to 5, wherein the minimum distance is determined depending on whether in the direction of travel in front of the motor vehicle ( 1 ) is or will stop, so that the motor vehicle ( 1 ) in the clearance area (F) must stop. A method according to claim 6, wherein a high probability of a stopping of the further traffic participant is detected by means of a threshold value comparison of a probability measure with a predetermined probability threshold value, the probability measure being based on a movement speed of the vehicle ahead in the direction of travel. 1 ) further road users ( 10 ) and in particular one in front of that other road user ( 10 ) prevailing traffic situation is determined. Method according to one of claims 1 to 7, wherein the clearance area (F) an intersection of an intersection, an exit area, in particular an exit for emergency vehicles or a junction area of an intersection on the by the motor vehicle ( 1 ) traffic lane corresponds. Device, in particular control device ( 4 ), for providing a minimum distance to a in the direction of travel in front of the motor vehicle ( 1 ) ( 10 ); wherein the device is designed: - to traffic data about in a surrounding area (U) of the motor vehicle ( 1 ) road users from a traffic detection unit ( 5 ) to obtain; - to track data via one or more in the direction of travel in front of the motor vehicle ( 1 ) and a presence of a free space (F) of provided map data; - by a minimum distance to one in the direction of travel in front of the motor vehicle ( 1 ) further road users ( 10 ) depending on the presence of the free space (F) in a preceding monitoring area (U) to specify. Motor vehicle ( 1 ), comprising: - a traffic detection unit ( 5 ), which is designed to transmit traffic data about in a surrounding area of the motor vehicle ( 1 ) provide road users; A device, in particular an environment detection unit and / or a card memory ( 6 ), which is designed to track data via one or more in the direction of travel in front of the motor vehicle ( 1 ) and a presence of a free space (F) of provided map data; A control unit ( 4 ), which is designed to be a minimum distance to a in the direction of travel in front of the motor vehicle ( 1 ) further road users ( 10 ) depending on the presence of the free space (F) in a preceding monitoring area (U) to specify.

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