DE102016001125A1 - A method of operating a driver assistance system for assisting a driver in a spin operation and motor vehicle - Google Patents

A method of operating a driver assistance system for assisting a driver in a spin operation and motor vehicle

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Publication number
DE102016001125A1
DE102016001125A1 DE102016001125.4A DE102016001125A DE102016001125A1 DE 102016001125 A1 DE102016001125 A1 DE 102016001125A1 DE 102016001125 A DE102016001125 A DE 102016001125A DE 102016001125 A1 DE102016001125 A1 DE 102016001125A1
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Germany
Prior art keywords
motor vehicle
spin
method according
radar
driver
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Pending
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DE102016001125.4A
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German (de)
Inventor
Rachid Khlifi
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Audi AG
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Audi AG
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Priority to DE102016001125.4A priority Critical patent/DE102016001125A1/en
Publication of DE102016001125A1 publication Critical patent/DE102016001125A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/02Control of vehicle driving stability
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/18Propelling the vehicle
    • B60W30/18172Preventing, or responsive to skidding of wheels
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/165Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/52Radar, Lidar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/06Direction of travel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00805Detecting potential obstacles

Abstract

A method for operating a driver assistance system (13) for assisting a driver of a motor vehicle (1) in a spin operation, wherein upon fulfillment of at least one of at least one spin criterion indicative of a spin event at least one supporting advice to the driver issuing and / or a driving intervention comprehensive support takes place, wherein radar data describing the surroundings of the motor vehicle (1) are evaluated by means of at least one radar sensor (2) of the motor vehicle (1) and evaluated with respect to static objects (26, 27), the dynamics of at least one static object (32) being detected by the spin criterion for detecting a spin event. 26, 27) relative to the motor vehicle (1) is evaluated in its time course.

Description

  • The invention relates to a method for operating a driver assistance system for assisting a driver of a motor vehicle in a spin operation, wherein upon fulfillment of at least one spin criterion indicative of a spin event, at least one support action issuing a support advice to the driver and / or a driving engagement is performed. In addition, the invention relates to a motor vehicle.
  • Skidding processes of motor vehicles represent a great danger for both the flinging motor vehicle and for other motor vehicles and thus a critical driving situation. Although chassis control systems have been proposed which can contribute to the stabilization of a motor vehicle in a spin state, however, these are, especially when reaching the physical Limit area for the current driving situation, not always able to actually end a spin process. A key factor here is also the driver of the motor vehicle, the correct steering behavior in a spin operation is not always known or intuitively traceable.
  • Thus, driver assistance systems have already been proposed for assisting a driver in a skid, which aims at giving the driver a sensible direction, in which he can steer in order to stabilize the motor vehicle, by evaluating the current driving dynamics of the motor vehicle.
  • For example, by DE 10 2009 035 634 A1 proposes a method for assisting a driver of a motor vehicle during a spin operation, wherein a driving direction stabilizing the motor vehicle is determined from the driving dynamics of the motor vehicle, determined by a chassis control system parameters and by at least one further vehicle system the driver's attention, in particular the view of the driver, is directed in the direction of travel. It can be provided on the one hand, that as the motor vehicle stabilizing direction of travel defined by the steering angle of the motor vehicle when entering the spin state, the driver side desired direction is used, on the other hand, the vehicle stabilizing the direction of travel as a vehicle optimally stabilizing the direction of travel by a control unit be calculated. In this case, the spin state of the motor vehicle, as defined by the driving dynamics parameters, evaluated, and it is mathematically determined a direction of travel, whose control by the driver best contributes to the elimination of the control state. To guide the driver's gaze, various optical output means can be used.
  • DE 103 54 662 A1 relates to a method for assisting the driver in driving-dynamic limit situations by applying a steering torque. A moment in a direction in which the vehicle stabilizes should be exerted on the steering wheel to indicate to the driver in which direction he must steer in order to stabilize the skid or oversteer of the vehicle as quickly as possible. This steering torque is maintained until the actual yaw rate decreases again. There is therefore proposed to indicate a stabilizing steering direction haptically.
  • A similar procedure is going through DE 101 41 425 A1 discloses in which a driving condition-dependent additive additional torque is to be generated in a spin process, which additional torque is to give a haptic feedback, in which steering direction the steering wheel and thus the steerable wheels are to control to regain the driving stability or increase. Also there, the driver is thus a direction in which the steering wheel is to move, haptically brought to the knowledge.
  • These known methods use the driving dynamics of the own motor vehicle descriptive data, such as slip angle, yaw rate, and the like, to detect a spin operation or to generate a recommendation or display for the driver, where to steer. It is important to regain the stability of the motor vehicle during the spin. It is disadvantageous here that the environment of the motor vehicle is taken into account neither in the determination of whether a spin operation is present nor in the following support measures. On the one hand, there is the risk of misdetection, on the other hand, it can lead to critical follow-up situations due to the stabilization strategy chosen without considering the environment.
  • The invention is therefore based on the object to enable a more reliable detection of centrifugal processes and in particular an improved support of the driver during spin processes.
  • To solve this problem, it is provided according to the invention in a method of the type mentioned that recorded by means of at least one radar sensor of the motor vehicle, the environment of the motor vehicle descriptive radar data and evaluated with respect to static objects, wherein for detecting a spin process is evaluated by the spin criterion, the dynamics of at least one static object relative to the motor vehicle in its time course.
  • According to the invention, it is therefore proposed to improve the detection of spin processes by also taking into account highly accurate radar data of the surroundings of the motor vehicle, from which the presence of static objects and their relative dynamic properties can be derived. For it has been shown that typical relationships exist to dynamic parameters recorded in the motor vehicle itself and typical movement patterns of static objects relative to the motor vehicle, which permit extremely reliable detection of a centrifugal process. Radar sensors have been used in motor vehicles for some time, for example in connection with longitudinal driver assistance systems that regulate a leading road user. However, modern, highly accurate radar sensors make it possible to detect static and dynamic objects in the environment of the motor vehicle reliably and with high precision, for which purpose suitable classification algorithms have already been proposed. In other words, in other words, a spinning process is detected on the basis of the relative movement and orientation of the motor vehicle to the environment, for example to a guardrail.
  • In this case, the invention uses with particular advantage the meanwhile given availability of highly precise measuring radar sensors on a semiconductor basis, which also provide the suitable data for the reliable detection of centrifugal processes described here.
  • The realization of semiconductor-based radar components has long proved difficult, as expensive specialty semiconductors, particularly GaAs, have been required. Smaller radar sensors have been proposed, whose entire radar frontend is realized on a single chip in SiGe technology before solutions in CMOS technology became known. Such solutions are the result of extending CMOS technology to high frequency applications, often referred to as RF CMOS. Such a CMOS radar chip is realized extremely compact and does not use expensive special semiconductors, thus offers significant advantages over other semiconductor technologies, especially in the production. An exemplary implementation of a 77 GHz radar transceiver as a CMOS chip is disclosed in US Pat Article by Jri Lee et al., "A Fully Integrated 77-GHz FMCW Radar Transceiver in 65-nm CMOS Technology", IEEE Journal of Solid State Circuits 45 (2010), pp. 2746-2755 , described.
  • After it has also been proposed to realize the chip and the antenna in a common package, a very low cost small radar sensor is possible, which can meet the space requirements significantly better and due to the short signal paths also has a very low signal-to-noise ratio and for high frequencies and larger, variable frequency bandwidths is suitable. Therefore, such small-sized radar sensors can also be used for short-range applications, for example in the range of 30 cm to 10 m.
  • It has also been proposed to provide such a CMOS transceiver chip and / or a package with CMOS transceiver chip and antenna on a common circuit board with a digital signal processing processor (DSP processor) or the functions of the signal processing processor in the CMOS Integrate transceiver chip. Similar integration is possible for control functions.
  • Accordingly, it is also preferred in the context of the present invention if a radar sensor with a semiconductor chip that realizes at least one radar transceiver, in particular a CMOS chip, is used as the radar sensor. It is particularly advantageous if in addition a digital signal processing component of the radar sensor and / or a control unit of the radar sensor are realized by the semiconductor chip and / or the semiconductor chip and an antenna arrangement of the radar sensor are realized as a package. In this way, a small-sized radar sensor with short signal paths and a high signal-to-noise ratio can be realized. Such a highly integrated radar sensor also offers the possibility for special operating modes which allow the recording of the high-resolution radar data advantageously used here.
  • Thus, an expedient development of the present invention provides that, in particular when the radar sensor is designed in CMOS technology, the radar sensor is operated with a frequency bandwidth of at least 2 GHz, in particular at least 4 GHz, and / or in a frequency range of 77 to 81 GHz , High signal bandwidths, preferably of 4 GHz, allow an excellent separation ability for objects, which allows even better discrimination and classification of static objects in the environment of the motor vehicle.
  • A particularly preferred embodiment of the present invention further provides that multiple, the environment of the motor vehicle in a 360 ° radius covering radar sensors are used. Thus, static and dynamic objects around the own motor vehicle can be detected as completely as possible. This also results an improved basis for the evaluation of spin processes. For example, eight radar sensors can be used, of which three are concealed in the front and in the rear bumper of the motor vehicle. Two additional radar sensors can be provided laterally, in particular the doors. The radar sensors generally have a wide opening angle of their detection range, for example, an opening angle in the azimuth of greater than 140 °, in particular of 150 °. In a corresponding embodiment of the antenna arrangement of the radar sensor, for example in a successive arrangement of antenna elements in two mutually perpendicular directions can be an angle measurement in the elevation allow, for example, an opening angle greater than 50 °, for example, 60 ° or 70 °, can be given ,
  • As already mentioned, fundamental algorithms for classifying objects in the context of the evaluation of radar data are already known, for example at the rough level of the classification of an object as static or dynamic, but also with regard to an exact classification. In particular, when using radar sensors in semiconductor technology classifiers are known, which can identify concrete objects, such as curbs, crash barriers, edge development objects, signs, plants, especially trees, or even the transition from the road surface of the currently driving road to another surface to a to carry out highly accurate determination of the road course of the currently driving road. In particular, reflection properties of the respective objects / structures can also be taken into account. Of course, it is also possible to trace once detected and classified objects in the radar data, in particular, to plausibility certain characteristics, such as the classification as a static, ie stationary object, if the speed of the corresponding object in the amount of the motor vehicle corresponds and is opposite , If this suddenly changes, it may indicate a spinning state of the motor vehicle.
  • Namely, one of the findings of the present invention is that, starting from a stationary target such as a guardrail, relative motions and trajectories of the ego automobile can be easily evaluated. The temporal progression and orientation change of the contour of static objects relative to the own motor vehicle can bring insights not only about driving maneuvers of the own motor vehicle, but also about its general driving dynamics state. The radar sensors see a change in the position of the static objects from the perspective of their own motor vehicle during a movement of the motor vehicle, even though the static objects are standing in the world coordinate system. This change corresponds exactly to the change in position of one's own motor vehicle, during which spin the relative trajectory no longer corresponds to a typical driving trajectory of the motor vehicle, so that conclusions can be drawn in the spin criterion here.
  • An expedient embodiment of the present invention, in order to increase the reliability of the spin detection even further, provides that several static objects within a spin criterion and / or different spin criteria are evaluated. Ultimately, then results for different static objects can be plausibilized against each other to create a broad, the overall reliability of the statement increasing database. Alternatively or additionally, provision may be made for static objects describing the roadway course of a road used by the motor vehicle to be used. The edge development represents a static and extensive object for the radar sensor system, reference being made by way of example to crash barriers, curbs, houses, trees, and the like. If the motor vehicle skids, the critical traffic situation can be detected on the basis of the static environment data detected by radar at the edge of the road, for example by tracking the reflection points over time.
  • A first possibility for the concrete design of spin criteria using radar data provides that at least one determined by measurement on the motor vehicle, the driving dynamics of the motor vehicle descriptive dynamic parameters of the motor vehicle, in particular its speed and / or direction, with a corresponding Movement parameter compares the dynamics of the at least one static object. For example, an appropriately usable feature for radar-based detection of a spin operation is that the airspeed detected in the motor vehicle as present does not coincide in magnitude with the detected speed of static targets in the environment. Consequently, deviations of the speed amounts from the radar measurement and any other detection, for example against a threshold, can be evaluated. Another expedient consideration in the context of a spin criterion is when a constant relative movement to the static object is detected, but which is oriented differently than the currently set direction of travel of the own motor vehicle as a dynamic parameter. Of course, such considerations may also apply other dynamic parameters of the motor vehicle are made, for example, by using the slip angle and / or the yaw rate as a dynamic parameter.
  • A particularly preferred further concrete embodiment of a spin criterion, however, provides that at least one of the at least one spin criterion comprises a comparison of a movement pattern of at least one static reference object with respect to the motor vehicle with at least one reference pattern describing a spin state. As already mentioned, one sees in his own motor vehicle a change of position and orientation of the static objects in the surroundings of the motor vehicle due to the proper movement, although these objects are stationary in the world coordinate system. For different types of spin processes, certain characteristics of the time course of the relative movement, which can be described by reference patterns, now arise. In other words, typical reference patterns describing spin profiles can be deposited to enable detection and / or plausibility of spin events. The currently detected movement patterns resulting from the temporal course of the radar data relating to static objects can then be compared with these reference patterns in the vehicle coordinate system in order to determine a spin operation.
  • Specifically, in this case it can be provided, for example, that the reference pattern contains at least one temporal pattern profile of a comparison parameter describing the relative movement, for which a corresponding time profile of a motion parameter from the radar data can be determined. However, relationships between such pattern progressions and / or with time profiles of other variables, for example the already mentioned dynamic parameters of the motor vehicle, can be stored as reference patterns and checked for presence on the basis of the actually measured data. The degree of agreement can be described, for example, by means of a correlation value which can be compared with a threshold value in the context of the spin criterion. Various methods for determining a correlation between (possibly parts of) reference patterns and movement patterns are already known in principle for other applications.
  • In this context too, it is expedient to use at least one peripheral development object and / or one object indicating a road boundary of a road traveled by the motor vehicle as the reference object. Such objects represent standing, basically existing, extensive and easy-to-classify goals, which thus allow a simple implementation of the appropriate spin criterion.
  • Since different types of spin processes can occur in different driving situations, a preferred embodiment of the present invention provides for reducing the number of reference patterns with which the comparison is actually made. It can thus be provided that the at least one reference pattern to be used for the comparison is selected as a function of at least one dynamic parameter of the motor vehicle determined by measurement on the motor vehicle and / or scaled from a database of reference patterns. In other words, this means that only reference patterns can be used, or reference patterns are adapted so that they are also possible or can occur in the current driving situation of the motor vehicle. In this way, the comparison effort and thus the computational effort is significantly reduced by an appropriate pre-selection / pre-parameterization is made.
  • Because the comparison with a specific reference pattern was successful in a spin criterion, a characterization of the type of spin operation has also been made, which in a particularly advantageous embodiment of the present invention is also used in the further course to assist the driver, namely the concrete one Design of the support measure. Thus, a particularly preferred development of the present invention provides that in a spin operation detected by a successful comparison with a specific one of the at least one reference pattern, the support measure is selected and / or adjusted depending on the particular reference pattern. In other words, by characterizing the spin operation, the decision can also be made as to how the driver should actually be supported, for example, which actuators should be driven to regain vehicle stability. Ultimately, a kind of mapping is proposed for certain types of spin processes, ie reference patterns, with a kind of counter-tax profiles, so as to automatically select certain support measures, the implementation of such a database with assignments can be specific to motor vehicles.
  • In particular, it can thus be provided that support data sets containing support patterns, in particular, are assigned to the reference patterns, one on the one specific support pattern associated support record based support action is performed. As has been explained, these support patterns are, in particular, counter-control patterns that are geared to the specific type of spin process, but can of course also be further specified or adapted by further driving situation parameters describing the current driving situation. Such a configuration for the use of assistance patterns is particularly useful when at least semi-automatically by the motor vehicle is to be contributed by driving interventions to stabilize the motor vehicle.
  • In the context of the present invention, it is further particularly preferred if the assistance measure is determined and / or adapted as a function of the radar data, in particular of static and dynamic objects determined in the radar data. The consideration of the radar data (and optionally in addition further environment data describing the environment of the motor vehicle) makes it particularly advantageous to evaluate stabilization strategies implemented by the support measures with regard to static and dynamic objects in the surroundings of the motor vehicle and, if appropriate, other drive stabilization strategies and thus supportive measures use, which lead to less critical situations for the own motor vehicle and / or other road users. In other words, when selecting an optimal stabilization strategy, for example an optimal direction of travel and / or the time of the assistance, a criticality value describing the criticality of the driving situation is minimized as far as possible. This is only possible if an environment description is considered, which is proposed at least via the radar data in this embodiment of the present invention.
  • With particular advantage in combination with a consideration of the radar data in the determination and / or adaptation of a support measure can be provided in a further embodiment of the present invention that, taking into account the radar data on satisfaction of at least one of the at least one spin criterion verifies a collision criterion indicating an unavoidable collision which, when the collision criterion is met, the collision mitigation assistance measures are carried out. In this case, it is therefore possible to ultimately combine the driver assistance system to assist the driver in a spin operation with a collision avoidance safety system in the event of an unavoidable collision, so that a further increase in safety is provided. Whenever there is a spin operation, it is therefore checked in principle, in a manner known in principle by such security systems, whether a collision is unavoidable. In this case, the radar data describing dynamic and static objects in the surroundings of the motor vehicle are taken into account in order to be able to fully assess the current driving situation. The assistance measure can then be selected to mitigate collision, for example by a corresponding preconditioning of passive safety systems being undertaken and / or the further vehicle guidance strategy / stabilization strategy being selected such that a suitable impact point of the motor vehicle on the collision object occurs, as is already fundamentally already the case with corresponding safety systems is known. In particular, a countersteering of the motor vehicle can therefore be carried out in this way, or the orientation of the motor vehicle can be chosen such that the collision severity is the lowest. In this case, it is possible, in particular, to control the individual wheels of the motor vehicle as a support measure in such a way that, for example, a repeated impact point for the collision is set by repeated braking and steering. Ultimately, the radar data are thus used to predictively calculate the collision point, for example, taking into account the relative sliding direction of movement of the motor vehicle to the stationary obstacle. This can also be done for movements modified by support measures. However, if the points of impact during a collision are first known, the corresponding passive safety systems, for example airbags, and / or other corresponding vehicle systems can be prepared for the collision.
  • In these support measures is advantageously provided that cyclically, for example, whenever there is new radar data, the driving situation is re-evaluated relative to the environment. In particular, this also happens after detection of a spin operation, if for the support measure as well radar data are taken into account, as it has been described. Specifically, various support measures are conceivable within the scope of the present invention. Thus, a fully automatic stabilization of the motor vehicle can take place, wherein driving interventions in addition to transverse guidance operations, which can take place on the steering system and / or on the wheels, may also include braking interventions and / or transmission interventions. In this case, not only the dynamic parameters of the motor vehicle play a role, but also the nature of the environment (free space, stationary obstacles, large-scale obstacles such as wall / wall / guardrail / etc.) And / or small-scale obstacles such as trees / traffic signs / etc.), which takes place at least partially via the radar data. Also a semi-automatic Support is possible, wherein, for example, longitudinal driving interventions and / or interventions on the transmission are performed automatically controlled, but the steering is left to the driver, which is preferably a stabilizing direction, which was determined in particular on the basis of environment data, displayed or recommended. Finally, it is of course also conceivable to realize the support altogether via a driving recommendation to the driver.
  • In addition to the method, the present invention also relates to a motor vehicle, comprising at least one radar sensor and a driver assistance system for assisting a driver of the motor vehicle in a spin operation, wherein the driver assistance system has a control unit designed for carrying out the method according to the invention. All statements relating to the method according to the invention can also be analogously transferred to the motor vehicle according to the invention, with which therefore also the same advantages can be obtained.
  • Further advantages and details of the present invention will become apparent from the embodiments described below and with reference to the drawing. Showing:
  • 1 a schematic diagram of a motor vehicle according to the invention,
  • 2 one in the motor vehicle according to 1 used radar sensor,
  • 3 the motor vehicle when driving along a road,
  • 4 an illustration to illustrate a spin process,
  • 5 an illustration of support measures in a spin process, and
  • 6 an illustration of collision mitigation assistance.
  • 1 shows a schematic diagram of a motor vehicle according to the invention 1 , This has eight radar sensors 2 of which three in the rear bumper, three in the front bumper and two in the doors of the motor vehicle 1 are installed concealed.
  • After dealing with wide-angle radar sensors 2 with an opening angle of the detection area 3 in the azimuth of 150 ° is, as the indicated detection ranges 3 indicate a detection of the environment of the motor vehicle 1 possible in a 360 ° radius.
  • 2 shows the structure of the radar sensors used 2 more accurate. Every radar sensor 2 is realized in semiconductor technology, here specifically CMOS technology, and is operated in a frequency band of 77 to 81 GHz with a frequency bandwidth of 4 GHz in order to deliver high-resolution radar data. The radar sensor has a housing 4 on, in which a circuit board 5 is held, which is a package 6 carries that from a semiconductor chip 7 and an antenna arrangement 8th of the radar sensor 2 is formed. Through the semiconductor chip 7 , here a CMOS chip, are next to a radar transceiver 9 also a control unit 10 of the radar sensor 2 and a digital signal processing component 11 (DSP) of the radar sensor 2 realized.
  • With activated radar sensors 2 become the radar data of radar sensors 2 , see. 1 , to a central control unit 12 of the motor vehicle 1 supplied, which is also designed to carry out the method according to the invention, thus a driver assistance system 13 is associated to assist a driver in a spin operation of the motor vehicle. On the part of the controller 12 Consequently, at least static objects are detected and classified from the radar data, and furthermore their relative movement to the motor vehicle 1 is used to detect a spin operation by means of at least one spin criterion and to take support measures on the fulfillment of the spin criterion, which may be directed at least partially to an automatic return of the motor vehicle in a stable driving condition and / or at least partially to the output of assistance instructions to the driver , The control unit 12 also evaluates in the motor vehicle 1 self-determined, the driving dynamics of the motor vehicle 1 descriptive dynamic parameters, for example, a determined by measuring the wheels speed of the motor vehicle and the like. Corresponding measuring devices are in 1 simplified by the reference numeral 14 Mistake. The control unit 12 communicates further with a security system 15 for Kollisionsfolgenminderung or additionally implemented such, so that when a spin operation and a collision criterion indicating an unavoidable collision criterion is met, the support measures can be aimed at collision reduction.
  • 3 shows the motor vehicle 1 in a non-skid driving situation on a road 16 , Through the radar sensors 2 It is possible to have different static objects on the edge of the road 16 to detect, in particular, the course of the roadway 16 Show. Exemplary here are a curb 17 , a guardrail 18 , an edge development object 19 , a tree 20 and a sign 21 shown. The high-resolution radar sensors 2 in CMOS technology also allow, even without curb 17 the transition 22 from the road surface to another surface as a boundary of the road 16 or to recognize from the roadway. In normal driving of the motor vehicle 1 For example, these static objects can easily be recognized as standing in the world coordinate system, whereby plausibility in particular is further made plausible by a time integration.
  • 4 shows different positions 23 . 24 and 25 of the motor vehicle 1 in the street 16 during a spin operation, further exemplifying three static objects 26 . 27 are shown. Although the direction of travel 28 as follows on the part of the motor vehicle itself as a dynamic parameter from the inputs made by the driver and the settings, in the direction of the vehicle longitudinal axis of the motor vehicle 1 should run, there appears to be an actual component of motion 29 across to this direction. This unwanted movement 29 can be determined by the relative dynamics of the motor vehicle 1 towards the static objects 26 . 27 as determined by the radar sensors 2 is measured, notice. Because the movement of the motor vehicle 1 is formed, viewed in the coordinate system of the motor vehicle, as a relative movement of the actually stationary static objects 26 . 27 , which were also detected as such from.
  • In a specific embodiment, a spin criterion can therefore be certain dynamics parameters in the motor vehicle itself with corresponding motion parameters of the dynamics of the static objects 26 . 27 Compare what's preferred for multiple static objects 26 . 27 he follows. For example, comparing the speed of the motor vehicle 1 , as determined by itself wrongly due to lack of grip of the wheels, with the measured relative velocity of the static objects 26 . 27 in the amount, so a deviation can be determined in the spin state. The same applies as 4 shows, also for the direction of travel, because the motor vehicle moves relative to the static objects 26 . 27 obviously not in the expected direction of travel 28 , Such a comparison can also form a spin criterion and / or be included in a spin criterion.
  • However, in this exemplary embodiment, the movement patterns of the static objects that result in the vehicle coordinate system also become apparent in at least one spin criterion 26 with reference patterns that describe, compare or correlate typical temporal processes or relationships between different temporal processes in spin processes. In this case, a preselection of possible reference pattern, thus possible spin processes, due to the current driving dynamics parameters of the motor vehicle 1 , in particular before the start of the spinning process, take place. The reference patterns are thus preferred in a database in the control unit 12 stored and can be preselected and / or adjusted on the basis of dynamic parameters of the motor vehicle in order to simplify the comparison with the actually measured from the radar data movement patterns. Advantageously, the fact that a comparison with a specific reference pattern was successful, already in the step of determining a spin operation, a classification of the spin process as a spin process corresponding to the particular reference pattern, which information is also taken into account in the concrete determination of the support measure. For this purpose, support data sets containing support patterns are assigned to the reference patterns, the support patterns ultimately including stabilization measures, for example counter-control plans, coordinated with the spin process.
  • When selecting or adapting support measures, however, the static objects detected from the radar data also become 26 . 27 and dynamic objects in the environment of the motor vehicle 1 to choose a stabilization strategy that does not itself lead to a critical situation. Thus, in the selection of the optimal support measure, an optimization with regard to a criticality value which describes the criticality of the resulting driving situation takes place. Would, for example, a simple, direct countersteering in the originally intended by the driver's direction of travel to a collision with a static object 26 . 27 or a dynamic object, an alternative stabilization strategy can be chosen, for example by a later countersteering time, another steering control behavior and / or another stabilizing direction of travel.
  • positions 30 to 32 of the motor vehicle 1 in a successful stabilization process are through 5 indicated. There is by automatic driving interventions, which may include in particular interventions on individual wheels and / or an adjustment of the front axle to the rear axle, in general so by Querführungs-, Längsführungs- and Parametrisierungseingriffe, the unwanted movement component 29 again in the according to the settings actually imaginary direction 28 of the motor vehicle 1 transferred what's in the position 32 like the arrow 33 indicates, is reached.
  • But stabilization is not always possible without a collision. Thus, in a detected spin operation in a Collision criterion checks for an unavoidable collision with a static object 26 or a dynamic object. In the example of 6 , the more exemplary positions 34 . 35 and 36 of the motor vehicle 1 shows, it was found to be a collision with the static object 27 as a collision object is unavoidable. In this case, the support measures do not serve solely to stabilize the motor vehicle 28 However, which is still sought, as the movement component 29 but also to minimize collision severity, which is why in the present example the impact area 37 of the motor vehicle 1 on the static object 27 is set to minimize the damage and at the same time a corresponding, the predicted impact point 37 considering reconditioning of passive safety systems, in particular airbag, of the motor vehicle 1 he follows. So even with an unavoidable collision by a spin process an ideal support of the driver is given.
  • It should be noted that in the context of the consideration of environmental data not only by radar sensors 2 detected static and dynamic objects must be considered, but it is quite possible to include other environmental data, such as data from a camera, into the considerations. It should also be noted that instead of the automatic stabilization / collision sequence reduction, a semiautomatic guidance of the motor vehicle with corresponding support instructions for the uncovered types of guidance, in particular the steering operation, is also conceivable; Furthermore, the driver can be guided by support instructions alone.
  • 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 102009035634 A1 [0004]
    • DE 10354662 A1 [0005]
    • DE 10141425 A1 [0006]
  • Cited non-patent literature
    • Article by Jri Lee et al., "A Fully Integrated 77GHz FMCW Radar Transceiver in 65nm CMOS Technology", IEEE Journal of Solid State Circuits 45 (2010), pp. 2746-2755 [0012]

Claims (14)

  1. Method for operating a driver assistance system ( 13 ) for assisting a driver of a motor vehicle ( 1 ) in a spin operation, wherein upon fulfillment of at least one spin criterion indicating at least one spin criterion, at least one support measure issuing a support advice to the driver and / or a driving engagement takes place, characterized in that by means of at least one radar sensor ( 2 ) of the motor vehicle ( 1 ) the environment of the motor vehicle ( 1 ) descriptive radar data and with respect to static objects ( 26 . 27 ), whereby the dynamics of at least one static object are detected by the spin criterion in order to detect a spin process. 26 . 27 ) relative to the motor vehicle ( 1 ) is evaluated in its time course.
  2. Method according to claim 1, characterized in that as radar sensor ( 2 ) a radar sensor ( 2 ) with at least one radar transceiver ( 9 ) semiconductor chip ( 7 ), in particular CMOS chip.
  3. Method according to claim 2, characterized in that by the semiconductor chip ( 7 ) additionally a digital signal processing component ( 11 ) of the radar sensor ( 2 ) and / or a control unit ( 10 ) of the radar sensor ( 2 ) and / or the semiconductor chip ( 7 ) and an antenna arrangement ( 8th ) of the radar sensor ( 2 ) as a package ( 6 ) are realized.
  4. Method according to one of the preceding claims, characterized in that the radar sensor ( 2 ) is operated with a frequency bandwidth of at least 2 GHz, in particular at least 4 GHz, and / or in a frequency range of 77 to 81 GHz and / or several, the environment of the motor vehicle ( 1 ) in a 360 ° radius covering radar sensors ( 2 ) be used.
  5. Method according to one of the preceding claims, characterized in that a plurality of static objects ( 26 . 27 ) evaluated within a spin criterion and / or different spin criteria and / or the road course one of the motor vehicle ( 1 ) busy street ( 16 ) descriptive static objects ( 26 . 27 ) be used.
  6. Method according to one of the preceding claims, characterized in that at least one of the at least one spin criterion by a measurement on the motor vehicle ( 1 ) certain dynamic parameters of the motor vehicle ( 1 ), in particular its speed and / or direction of travel, with a corresponding movement parameter of the dynamics of the at least one static object ( 26 . 27 ) compares.
  7. Method according to one of the preceding claims, characterized in that at least one of the at least one spin criterion a comparison of a movement pattern of at least one static reference object with respect to the motor vehicle ( 1 ) comprising at least one reference pattern describing a spin state.
  8. A method according to claim 7, characterized in that as a reference object at least one edge development object ( 19 ) and / or a road boundary of one of the motor vehicle ( 1 ) busy street ( 16 ) displaying object ( 26 . 27 ) is used.
  9. Method according to claim 7 or 8, characterized in that the at least one reference pattern to be used for the comparison as a function of at least one by measurement on the motor vehicle ( 1 ) certain dynamic parameters of the motor vehicle ( 1 ) and / or scaled by it from a database of reference patterns.
  10. Method according to one of claims 7 to 9, characterized in that in a detected by successful comparison with a certain one of the at least one reference pattern spin operation, the support measure is selected and / or adjusted depending on the particular reference pattern.
  11. A method according to claim 10, characterized in that the reference patterns are assigned in particular supporting pattern-containing support data sets, wherein a support measure based on the support data record associated with the particular reference pattern is performed.
  12. Method according to one of the preceding claims, characterized in that the support measure is dependent on the radar data, in particular of static and dynamic objects determined in the radar data ( 26 . 27 ), determined and / or adapted.
  13. Method according to one of the preceding claims, characterized in that, taking into account the radar data on satisfaction of at least one of the at least one spin criterion, a collision criterion indicating an unavoidable collision is checked, the collision mitigation assistance measures being performed when the collision criterion is met.
  14. Motor vehicle ( 1 ), comprising at least one radar sensor ( 2 ) and a driver assistance system ( 13 ) for assisting a driver of the motor vehicle ( 1 ) in a spin operation with a control device designed to carry out a method according to one of the preceding claims ( 12 ).
DE102016001125.4A 2016-02-02 2016-02-02 A method of operating a driver assistance system for assisting a driver in a spin operation and motor vehicle Pending DE102016001125A1 (en)

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