DE102015206335A1 - Procedure for warning a road user - Google Patents

Abstract

For warning a road user and / or a driver of a motor vehicle, the following steps are provided: driving by means of a motor vehicle on a roadway; - Monitoring a first area, which is located next to the road and which is intended not to be traveled by a motor vehicle, by means of at least one sensor which is arranged in or on the motor vehicle; - detecting a danger spot in the first area; - Determine whether - the danger spot could cause a road user in the first area to move onto the roadway, - the road user in the first area could fall because of the danger spot; and / or - the danger site significantly affects the comfort of the road user in the first area; and - determining the location and type of danger point.

Description

The present invention relates to a method for warning a road user, in particular in front of a road user, who is located on a traffic area next to a road or road and in which there is a risk of collision with the motor vehicle, because the road user could move in the direction of the road.

In the prior art vehicles are known, which have a complex measurement technology, such as cameras and laser sensors, for the accurate investigation of road damage. Such vehicles check the area drivable by vehicles. In particular, damages in the vertical direction are detected. The results are displayed on so-called status maps and serve cities and communities as a basis for a conservation concept. Since such vehicles are very expensive to produce due to the required measuring technology, only a few measuring vehicles are in use. Therefore, the road network is measured only irregular and limited.

Further, in the prior art, motor vehicles are known which include, for example, a stereo camera and check the road ahead of the vehicle for unevenness in order to increase the comfort of the occupant by adjusting the suspension and damping of the vehicle.

There are collisions of pedestrians and other road users, who usually use a traffic area next to a road, such as a sidewalk or a bike path, with a motor vehicle when these road users are forced to change from the traffic area next to the road to the road. This may be the case, for example, when the traffic area next to the roadway is damaged or ends.

The WO 02/101328 A1 discloses a specialized vehicle and method for detecting the surface condition of a roadway by means of a laser scanner.

The DE 10 2010 045 162 A1 discloses a pothole assistant for measuring the lying in the direction of travel in front of the vehicle road surface by means of environmental sensors and for determining an evasion trajectory for a pothole, the avoidance trajectory avoids a wheel contact with the determined pothole.

The DE 10 2012 101 085 A1 discloses a method for detecting the condition of a road surface by means of a 3D camera.

That in the DE 103 34 013 A1 The method disclosed checks whether the visibility of the lane of a person wishing to cross the lane is limited. In a restricted view, the person who wants to cross the lane is warned.

The invention has as its object to warn a road user on a traffic area next to a road and the driver of a motor vehicle.

The object of the invention is achieved by a method according to claim 1 and a computer program product according to claim 10. The subclaims claim preferred embodiments.

A method for alerting a road user and / or a driver of a motor vehicle comprises the step of driving by means of a motor vehicle on a roadway, the monitoring of a first area which is located next to the roadway and which is intended not to be traveled by a motor vehicle , by means of a sensor, which is arranged in or on the vehicle, and the detection of a danger spot in the first area. The method according to the invention determines whether the danger spot could cause a road user in the first area to move onto the roadway, if the road user in the first area could fall due to the danger spot and / or if the danger spot significantly impairs the comfort of the road user in the first area. The procedure then determines the location and type of danger spot.

The first area may be a walkway, a cycle path and / or a vehicle entrance. The road user in the first area may be a pedestrian, a cyclist, a wheelchair user, a skater, a skateboarder and / or a road user with a mobile sports device.

The danger zone may be a narrowing of the first area, a damage to the traffic surface of the first area, a slope of the first area, a high curb in the first area, a termination of the first area, an overgrown sidewalk with insufficient width and / or insufficient clearance height, a likewise overgrown one Cycle track, a high plate of a sidewalk, a high plate of a bike path, a Gullideckel, a distribution box, a fire hydrant, a garbage can, a billboard, a sales stall, an information stand or other stationary or movable narrowing or path obstacle. The damage to the traffic surface of the first area may be a depression, For example, be a pothole, or a survey, as it is caused for example by tree roots or other depression or elevation of the road.

The present invention provides a method that protects weaker road users, as it monitors the traffic area of a weaker road users and detects danger spots with less effort.

On the one hand, the location and type of danger point can be used to warn the driver of a motor vehicle that a weaker road user in the first area could or would move onto the roadway, which could cause him to move involuntarily in the direction of the road. The weaker road user in the first area can perceive the danger point as an obstacle that he wants to avoid. The location and nature of the danger spot may also be used to warn the weaker road user, for example, when carrying an intelligent phone or other mobile electronic device.

For this purpose, the method comprises the step of storing the location and the type of danger spot in a database, which can be accessed by a plurality of motor vehicles and / or a mobile electronic device of a road user in the first area. The location and type of danger point can be transmitted by means of mobile radio to the database and / or retrieved from this. The database can be a centralized database or there can be multiple distributed databases.

The method may further include the step of sending the location and type of danger spot to another motor vehicle. This allows other vehicles to be informed directly about danger spots. The method may further include the step of sending the location and type of danger location to a road user in the first area to warn them. Further, the method may include the step of reading locations and types of danger spots in the first area by a motor vehicle from the database. Alternatively or additionally, the method may comprise the step of reading locations and types of danger points in the first area by a road user intending to pass the first area from the database.

The method may also include the steps of determining whether a road user located in the first area could move toward the roadway due to the danger location, and warning the driver of the motor vehicle when it is determined that a road user residing in the traffic area first area, due to the danger spot could move towards the roadway, have. The motor vehicle can determine the danger spot by means of the sensor itself or retrieve the location of the danger spot from the database. As a result, the traffic safety is increased because the driver is warned that another road user next to the roadway could move in the direction of the road.

The procedure can determine whether a road user in the first area is moving in the direction of the danger spot. The first road user in the first area is warned if it is determined that the road user in the first area is moving in the direction of the danger spot. As a result, the first road user can be warned, for example, against holes, staggered floor panels, damage by tree roots or the like. As a result, the safety can be increased because the risk of falling is reduced.

The method may further comprise the step of detecting a hazard on the roadway on which the vehicle is traveling by means of an optical, electronic and / or acoustic sensor scanning the roadway. The sensor may be a LIDAR sensor, a radar sensor or the like. Alternatively, or in addition, the method may include the step of detecting a danger spot on the roadway on which the vehicle is traveling based on a temporary change in tire diameter and / or a temporary reaction of the landing gear. When a ridge or depression is passed through by a tire, the tire diameter changes momentarily. The temporary reaction of the chassis may be a compression or rebound of a shock absorber. The method may further comprise the step of determining the location and type of danger location in the second area and storing the location and type of danger location in a database accessible to a plurality of motor vehicles and / or road users in the first area. The method may further comprise the steps of storing the location and type of danger location in a database accessible to a plurality of vehicles and transmitting the location and type of danger location to another vehicle. As a result, danger spots on the roadway can be determined by means of a modern motor vehicle and made available to a large number of road users whose motor vehicles may not yet have the corresponding sensors.

The method may include a value at a detection location located in the first range or in the first range second area can detect by means of the sensor. The value may be, for example, the width of a walkway, the slope of a walkway, the height of a curb, or the like. The method may compare the value sensed by the sensor to a threshold. The detection location can be marked as a danger point if the detected value violates the limit value, eg exceeds or falls below it. The limit may be the upper or lower limit of a range. For example, if a sidewalk is too narrow or the slope of a sidewalk too large, there may be a risk that the pedestrian intends to leave the pavement and use a lane, or inadvertently moves in the direction of the road, for example due to a fall ,

The method may further include the step of receiving the location and type of danger location of a plurality of vehicles in a stationary facility. The stationary device may include the database. The location and type of danger spots are stored in the inpatient facility. Thereby, it is possible to use data of a plurality of motor vehicles to produce a complete picture of danger spots next to the road, for example on the sidewalk or the cycle path. These steps are preferred because, for example, parked cars can restrict the field of view of the sensor, in other words, the sensor can only partially or completely fail to detect the first area next to the road due to the parked cars. The location and type of danger spots are transmitted from the stationary device to a plurality of motor vehicles and / or to a plurality of road users in the first area.

The invention also relates to a computer program product which, when loaded into a computer having a processor and a memory, is executed by the processor executing the method described above. The method may be performed by a plurality of distributed processors. For example, the method may be performed by a processor in a motor vehicle, by a processor in a mobile electronic device carried by the road user in the first area, and / or by a processor coupled to the database at a stationary facility.

The invention will now be elucidated with reference to the figures, which show non-limiting embodiments of the invention, wherein

1 shows a first scenario for detecting a first area next to a roadway;

2 Figure 2 shows a second scenario for monitoring a second area adjacent to a lane;

3 Figure 3 shows a third scenario for monitoring a second area adjacent to a lane;

4 a scenario for monitoring a first area on the roadway and a second area next to the roadway;

5 shows a scenario in which the second area next to the carriageway can not be monitored;

6 shows a scenario in which the second area next to the carriageway can be partially covered;

7 shows a scenario in which road damage is detected by means of the chassis; and

8th shows a network of several road users.

In 1 a motor vehicle drives on a second area 104 a roadway and monitored by means of a sensor 114 a first area 101 next to the road, for example, a walkway 111 , The sensor 114 may be a LIDAR sensor that has a beam in the range 108 in the direction of the sidewalk 111 , Curbside 110 and objects 115 on the pavement 111 directed. At the in 1 The scenario shown determines an evaluation device in the motor vehicle 102 that the height of the curb 110 exceeds the permissible limit. Therefore, the place where the excessive curb 110 is marked as a danger point.

At the in 2 A sensor determines the scenario shown 114 of the motor vehicle 102 in that the sidewalk, ie the second area, is narrower than at other areas, for example because there is a wall 115 near the curb 110 or because of a construction site shutdown 115 or a planting, for example a hedge 115 the sidewalk 111 concentrated. The place where the walkway 111 in its width due to the wall 115 is reduced, is marked as a danger point.

At the in 3 the scenario shown drives the motor vehicle 102 the second area 104 on the road and monitored by means of the sensor 114 the first area 101 next to the roadway by means of the sensor 114 , The evaluation device determines in the vehicle 102 that the walkway 111 has a too high inclination towards the road. Therefore, this place becomes the sidewalk 111 recorded as a danger point. This may be the inclination of the walkway 111 from a few centimeters in length to several Meter length and wavy, that is, changing angles of inclination, run.

4 shows a scenario in which the motor vehicle 102 Moved on the roadway, the second area 104 forms. By means of a plurality of sensors 114 detects the motor vehicle 102 Danger spots, namely a pothole 118 in the second area 104 and second tree roots 124 in the first area 101 who is at the in 4 scenario shown is a combined footpath and bike path. In the first area 101 Furthermore, there are first tree roots 122 that are out of range of the sensors. The car 102 knows the location of the first tree roots 122 because the location of the second tree roots of the motor vehicle from a central database and / or from another motor vehicle 128 was transmitted.

The pothole 118 forms a first danger spot, the first tree roots 122 form a second danger spot and the second tree roots 122 form a third danger spot. The car 102 conveys the location and the nature of the third danger spot, ie the first tree roots 122 , to a plurality of pedestrians 120 , who are in the first area as road users the first tree roots 122 approach by sending a message to a mobile electronic device, such as a smart phone, a pedestrian 120 is transmitted.

The means of the sensors 114 detected second danger spot, ie the second tree roots 124 , Is by means of a message over a cellular connection to a mobile electronic device of a cyclist 126 transfer. The car 102 transmits information from danger spots 122 . 124 to weaker road users, who are in a first area 101 located next to the carriageway. As a result, the traffic safety can be increased for all road users, because the risk of falls and an associated risk of unintentional movement towards the road is avoided. At the same time the driver of the motor vehicle 102 warned that a pedestrian 120 could possibly switch to the road or fall and could move in the direction of the road.

The car 102 sends location and type of the first danger spot, ie the pothole 118 , to a following motor vehicle 116 , Alternatively, or in addition, the motor vehicle sends 102 the place of the first danger spot 118 to a central database. Furthermore, the motor vehicle 102 Location and type of the second danger spot, ie the second tree roots 124 , to the following motor vehicle 116 send to warn its driver that a cyclist 126 could leave the bike path and could move in the direction of the road or fall and could unintentionally move in directional lane.

It is understood that the communication between the motor vehicle 102 and other road users and the central database via a mobile network. Such mobile networks and associated protocols are known to those skilled in the art and need not be described herein.

5 shows a scenario in which the motor vehicle 102 moved on the road, wherein on the right edge strip a plurality of motor vehicles 132 parked. Due to the parked motor vehicles 132 can the sensors 114 of the motor vehicle 102 the tree roots 122 . 124 . 130 do not record as danger spots.

In 6 parks the motor vehicle 102 at the edge of the roadway. Therefore, the sensors can 114 the tree roots 122 . 124 . 130 Partially or completely record as danger spots depending on the range. The location and type of danger spots are transmitted from the first motor vehicle to a central database. The central database receives information about the danger spots of a plurality of motor vehicles and combines this information so that the most complete and up-to-date database of danger spots can be created.

It will open 7 Reference is made, which shows the detection of the height of a bump. A structure, ie a body of the motor vehicle 102 includes the mass m. At the body 202 is at least one damping device 204 and an elasticity 206 , For example, arranged a spring. The damping device 204 and the elasticity 206 can be attached to a strut on which a tire 208 is arranged. Due to the bump 212 in the lane becomes the tire 208 deformed so that it's the effective diameter 216 which is lower by Δd than the diameter without bump. Furthermore, the elasticity springs 206 and the damping device 204 by an amount Δf, which in 7 with the reference number 214 is shown. The height Δh of the bump is calculated as follows: Δh = Δd + Δf; where Δd is the change in tire diameter due to the bump and Δf is the deflection of the elasticity 206 and the damping device 204 is that depend on the spring characteristic and damper characteristic.

The above formula is based on the assumption that the bodywork 202 not moved due to the bump. Unless the bodywork 202 due to the bump 210 moved, their movement must be taken into account when estimating the height of the bump.

It will open 8th Reference is made, a networking of a plurality of road users 102 . 116 . 120 . 138 with a central facility 300 with the database 302 shows. As described above, detects the motor vehicle 102 by means of the sensors 114 a second tree roots 124 as a third danger point. Consequently, the driver of the motor vehicle 102 warned that the pedestrian 120 in the first area 101 could switch to the road or stumble. Here, the time at which the pedestrian reaches the obstacle can be estimated and compared with the time at which the vehicle reaches the obstacle. If the pedestrian and the vehicle arrive at the same height of the obstacle at the same time, there is a particular danger. A safety measure of the vehicle could be to avoid a possible collision or joint arrival at the danger spot by acceleration (in compliance with the applicable maximum speed), by braking, by lane changes (if multi-lane road) or slight turning in the direction of the roadway center. Furthermore, the motor vehicle transmits 102 via a mobile phone antenna 140 Location and type of second danger spot 124 to a mobile phone antenna 306 the central facility 300 , The motor vehicle detects by means of the sensors 114 a pothole 118 in the second area 104 , ie the roadway, and sends location and type of the first point of danger via the mobile phone antenna 140 to the mobile radio antenna 106 the central facility 300 ,

The first motor vehicle 102 has a fourth danger spot 134 happened in the form of a pothole. As described above, due to the change of the tire diameter Δd and the compression of the damper and the elasticity Δh, the height of the pothole became 134 determined.

The place and the nature of the fourth danger spots 134 be from the motor vehicle 102 by means of the mobile radio antenna 140 to the mobile radio antenna 306 the central facility 300 Posted. In addition, the number, intensity and amplitude of the road shocks are recorded on each spring / damper system. A wear counter can thus predict the wear limit, in particular the shock absorber.

A second motor vehicle 116 detected by the sensors 136 a narrowing of the sidewalk 101 due to a barrier 115 as the fifth danger spot. A stored image evaluation algorithm supports the object recognition and classifies stationary and mobile way obstacles. This will be the driver of the motor vehicle 116 warned that a pedestrian 138 possibly enter the road to avoid the fifth danger spot. At the same time a braking or avoidance operation can be prepared. Furthermore, the motor vehicle transmits 116 the location and type of the fifth danger spot, ie the barrier 115 , via the mobile phone antenna 142 to a mobile phone antenna 306 the central facility 300 , The mobile radio antenna 306 the central facility 300 transmits the received data to an evaluation device 304 , The evaluation device 304 evaluates the data about the first point of danger 118 , the second point of danger 124 , the third danger spot 122 , the fourth danger spot 134 and the fifth danger spot 114 and stores the data in the database 302 , Any road user can, by means of a suitable electronic device, such as a navigation system, data about danger spots from the database 302 the central facility 300 recall.

The central facility 300 may be developed in such a way that newly identified danger points are determined by the road authority and this must optionally confirm the receipt of the newly recognized danger spot. It is understood that as soon as the motor vehicle 102 approaching a danger point, which may not necessarily be on the road, but also adjacent to the road, safety systems, such as brake assistants, can be switched to a more sensitive mode to allow the fastest possible response in an emergency. Further, the detection of the height of bumps by means of the damping means and elasticity can be used to prompt the wear on the damping device and the elasticity and the driver of the motor vehicle to perform a repair if the systems have reached the wear limit.

If a danger point has been repaired, the corresponding danger point can be retrieved from the database 302 the central facility, for example by a road authority.

If the danger point relates to a deviation from the nominal value and / or a constriction of a traffic area, the danger spots can be from the central facility 300 forwarded to road authorities and / or regulators. Such authorities may investigate a possible breach of the rules, such as unlawfully placed obstacles or motor vehicles parked on a sidewalk.

The invention increases road safety, as the driver of a motor vehicle about hazards can be warned that may arise due to a road user who is on a traffic area next to the roadway or moves. It also makes it possible for the usually weaker road user on the traffic area next to the roadway to be warned of potential dangers.

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

• WO 02/101328 A1 [0005]
• DE 102010045162 A1 [0006]
• DE 102012101085 A1 [0007]
• DE 10334013 A1 [0008]

Claims (10)

Procedure for warning a road user ( 120 . 126 ) and / or a driver of a motor vehicle ( 110 . 116 ) with the following steps: - driving by means of a motor vehicle ( 112 . 116 ) on a roadway; - monitoring a first area ( 101 ), which is located next to the road and which is intended not to be traveled by a motor vehicle, by means of at least one sensor ( 114 . 136 ), which is arranged in or on the motor vehicle; - detecting a danger point ( 122 . 124 . 130 ) in the first area ( 101 ); - Determine whether - the danger point ( 122 . 124 . 130 ) a road user ( 120 . 126 ) in the first area ( 101 ) could cause it to move onto the roadway, - the road user ( 120 . 126 ) in the first area ( 101 ) due to the danger point ( 122 . 124 . 130 ) could fall; and / or - the danger point ( 122 . 124 . 130 ) significantly affects the comfort of the road user in the first area; and - determining the location and type of danger site ( 122 . 124 . 130 ). Method according to claim 1, characterized in that the first area ( 101 ) is a walkway, a cycle path and / or a driveway and / or the road user in the first area is a pedestrian, a cyclist, a wheelchair user, a skater, a skateboarder and / or a road user with a mobile sports equipment. Method according to claim 1 or 2, characterized in that the danger point ( 122 . 124 . 130 ) is at least one of the following: - a constriction ( 115 ) of the first area ( 101 ), - damage ( 122 . 124 . 130 ) the traffic surface of the first area; A termination of the first area ( 101 ); - a slope of the first area ( 101 ); A high boron edge in the first region ( 101 ); - an overgrown sidewalk with restricted width and height; - a narrowed cycle path with limited width and height; - a high plate of a sidewalk - a high plate of a bike path; - a manhole cover; - a distribution box; - a fire hydrant - a garbage bin; - a billboard; - a sales stall; - an information booth. Method according to one of claims 1 to 3, characterized by the following steps: - storing the location and type of danger point ( 118 . 122 . 124 . 130 . 134 ) in a database ( 302 ), to which a majority of motor vehicles ( 112 . 116 ) and / or a mobile electronic device of a road user ( 120 . 126 ) in the first area ( 101 ); further comprising at least one of the following steps: - sending the location and type of danger site ( 118 . 122 . 124 . 130 . 134 ) to another motor vehicle ( 112 . 116 ); - sending the place and the nature of the danger spot ( 118 . 122 . 124 . 130 . 134 ) to a road user ( 120 . 126 ) in the first area ( 102 ); - Reading out places and types of danger spots ( 122 . 124 . 130 ) in the first area by a motor vehicle from the database; - Reading out places and types of danger spots ( 122 . 124 . 130 ) in the first area ( 101 ) by a road user ( 120 . 126 ), which intends to cover the first area ( 101 ) to pass from the database ( 302 ). Method according to one of claims 1 to 4, characterized by the following steps: - determining whether a road user ( 120 . 126 ), which is in the first area ( 102 ) is due to the danger point ( 122 . 124 . 130 ) could move towards the roadway; and - warning the driver of the motor vehicle ( 112 . 116 ), if it is determined that a road user ( 120 . 126 ), which is in the first area ( 101 ), due to the danger point ( 118 . 122 . 124 . 130 . 134 ) could move towards the roadway. Method according to one of claims 1 to 5, characterized by the following steps: - determining whether a road user ( 120 . 126 ) in the first area ( 101 ) in the direction of the danger point ( 122 . 124 . 130 ) emotional; and - warning the road user ( 120 . 126 ) in the first area ( 101 ), if it is determined that the road user moves in the first area in the direction of the danger spot. Method according to one of claims 1 to 6, characterized by at least one of the following steps: - detecting a danger location ( 118 . 134 ) in a second area ( 104 ), which is located on the roadway on which the motor vehicle ( 112 . 116 ), by means of an optical, electromagnetic and / or acoustic sensor ( 114 . 136 ), which scans the roadway; - detecting a danger point ( 118 . 134 ) in the second area ( 104 ) based on a temporary change in tire diameter ( 216 ) and / or a temporary reaction of the chassis ( 204 . 206 ); further comprising at least one of the following steps: - determining the location and type of danger site ( 118 . 134 ) in the second area ( 104 ); further comprising at least one of the following steps: - storing the location and type of danger site ( 118 . 134 ) in a database ( 302 ), to which a majority of motor vehicles ( 112 . 116 ) can access; - sending the place and the nature of the danger spot ( 118 . 134 ) to another motor vehicle ( 102 . 116 ). Method according to one of claims 1 to 7, characterized by the following steps: - detecting a value at a detection location ( 111 . 115 ) by means of the sensor ( 114 . 136 ); - Compare the by means of the sensor ( 114 . 136 ) detected value with a limit value; and - identifying the location of detection ( 111 . 115 ) as a danger point if the detected value violates the limit value. Method according to one of claims 1 to 8, characterized by at least one of the following steps: - receiving the location and type of danger point ( 118 . 122 . 124 . 130 . 134 ) of a plurality of motor vehicles ( 112 . 116 ) in a central facility ( 300 ); - storing the place and type of danger spots ( 118 . 122 . 124 . 130 . 134 ) in the central facility ( 300 ); and - sending the location and type of danger spots ( 118 . 122 . 124 . 130 . 134 ) to a plurality of motor vehicles ( 112 . 116 ) and / or to a plurality of road users ( 120 . 126 ) in the first area ( 101 ). A computer program product that, when loaded into a computer having a processor and memory and executed by the processor, executes the method of any one of claims 1 to 9.

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