DE102016201522A1 - Method for reducing the risk of collision, safety system and vehicle - Google Patents

Abstract

The invention relates to a method for operating a driver assistance system (40) of a vehicle (10), wherein the driver assistance system (40) assumes driving functions of the vehicle (10) only if it is determined that vehicle doors of the vehicle (10), in particular all vehicle doors of the vehicle Vehicle (10), are closed.

Description

The present invention relates to a method for operating a driver assistance system of a vehicle, a safety system for a vehicle and a vehicle.

In modern motor vehicles, driver assistance systems can assist the driver while driving or already completely autonomously move the motor vehicle. In order to enable safe and accident-free driving, the reliable detection of dangerous situations is of great importance. It's about on the DE 10 2004 038 734 A1 referenced, where a method for triggering an emergency braking is described, wherein a collision probability is determined with detected objects and an emergency braking is performed depending on the determined risk.

To detect dangerous situations, a multiplicity of vehicle surroundings data is thus already evaluated with the aid of cameras and sensors. However, a danger to the vehicle and its driver may also arise due to a state of the vehicle itself, which, however, is usually not included in the hazard detection.

It is therefore an object of the present invention to provide a driver assistance system in which the safety of the driver and the vehicle is increased.

This object is achieved by a method for operating a driver assistance system of a vehicle having the features of patent claim 1, a security system for a vehicle having the features of claim 8 and a vehicle having the features of claim 15.

Accordingly, the present invention provides a method for operating a driver assistance system of a vehicle, wherein the driver assistance system assumes driving functions of the vehicle only if it is determined that vehicle doors of the vehicle, in particular all vehicle doors of the vehicle, are closed.

The invention accordingly further provides a safety system for a vehicle, having a door monitoring device, which is designed to detect whether vehicle doors of the vehicle, in particular all vehicle doors of the vehicle, are closed. The safety system further comprises a driver assistance system, wherein the driver assistance system assumes driving functions of the vehicle only if it is determined that vehicle doors of the vehicle, in particular all vehicle doors of the vehicle, are closed.

Finally, the invention provides a vehicle with a security system.

According to the invention, the driver assistance system thus assumes no driving functions when the door is open. In a potentially dangerous situation in which a vehicle occupant of the vehicle has already opened a door, for example, the vehicle is thus prevented from being steered automatically. Thus, it is not possible for the vehicle occupant to be knocked over and dragged along by the unexpectedly approaching car in an attempt to get out of the vehicle. Serious or even fatal injuries to the vehicle occupant can thus be safely prevented.

According to a development of the method, the driver assistance system puts the vehicle into motion from standstill. The vehicle is thus autonomously set in motion again. However, this driving function is performed only when the vehicle doors of the vehicle are closed.

According to a development of the method, the driver assistance system performs the following steps: detecting at least one further road user in a vehicle environment of the vehicle on the basis of detected sensor data of the vehicle surroundings of the vehicle; and detecting whether a collision of the at least one road user with the vehicle is likely; wherein the vehicle is automatically moved away from the at least one road user by the driver assistance system if a collision with this road user is likely.

A major danger with emergency braking maneuvers is that a vehicle driving directly behind the vehicle can no longer brake in time and therefore generates a rear-end collision. This can lead to serious injury to the vehicle occupants both of their own vehicle and the approaching vehicle. Furthermore, the vehicles involved can be severely damaged. According to the invention, however, it can be prevented that the additional road user ascends onto the vehicle. Even in a case where the other road user can not brake in time, a collision strength and any resulting damage to people or to the vehicles can be reduced because the vehicle is automatically moved away from the other road users. The safety of the vehicle is thus significantly increased. For example, when driving on the highway a rear-end collision can occur if several vehicles of the column make an emergency stop, followed by However, road users can not slow down in time. According to the invention, the safety can be increased in this case that even when the vehicle is stopped due to emergency braking, the vehicle can be set in motion again and can be driven away from a subsequent vehicle. This increases the available braking distance of the following road user, so that a collision can be reduced or completely prevented. By detecting whether the vehicle doors are closed, it is prevented that in a situation in which occupants of the vehicle already leave the vehicle, the vehicle is automatically set in motion again. The procedure is therefore carried out only if a threat to the occupants is excluded. Preferably, the Weglenken is performed only if all vehicle doors are closed.

According to a further development of the method, the recognition as to whether a collision of the at least one road user with the vehicle is probable is carried out on the basis of a relative speed of the at least one road user relative to the vehicle.

According to a development of the method, the recognition of whether a collision of the at least one road user with the vehicle is probable is carried out if emergency braking of the vehicle is detected.

According to a development, the method comprises calculating expected trajectories of the at least one road user based on the relative speeds of the at least one road user, wherein the automatic moving away of the vehicle by the driver assistance system is performed such that the vehicle is moved to a position outside the calculated trajectories , An expected trajectory can be predicted from the relative speed of the road user. The trajectories can be used to identify dangerous areas for the vehicle. Even with a large number of road users in the vehicle environment, the vehicle can be safely moved automatically into an area in which a risk of collision with all road users is reduced or the intensity of the collision is at least reduced. The method is thus designed to minimize the damage to the vehicle. The collision severity can preferably also be calculated on the basis of parameters such as possible damage to persons or to other road users.

According to a development, the method comprises determining an expected impact area of the at least one road user on the vehicle based on the relative speeds of the at least one road user. Further, the method comprises calculating a collision strength based on the determined impact area, wherein the automatic moving away of the vehicle by the driver assistance system is performed such that the expected impact area changes such that the calculated collision strength is reduced and / or a collision is prevented.

According to a further development of the safety system, the driver assistance system is designed to enable the vehicle to move from standstill.

According to a further development of the safety system, the driver assistance system has a detection device which is designed to detect an emergency braking of the vehicle, and at least one sensor device for the continuous detection of sensor data of a vehicle environment of the vehicle. The driver assistance system further comprises a road user recognition device, which is designed to detect at least one further road user in the vehicle surroundings of the vehicle on the basis of the detected sensor data, and a speed determination device, which is designed to determine a relative speed of the at least one road user relative to the vehicle , Furthermore, the driver assistance system comprises a collision detection device, which, if the detection device detects emergency braking of the vehicle, detects, based on the relative speed of the at least one traffic participant, whether a collision of the at least one traffic participant with the vehicle is probable; and a control device, which is formed as soon as the collision detection device recognizes that a collision with the at least one road user is likely to automatically move the vehicle away from this road user.

According to a further development of the safety system, the control device is designed to automatically move the vehicle away from the road user after the vehicle has come to a standstill due to the emergency braking.

According to a further development of the safety system, the driver assistance system further has a calculation device which is designed to calculate expected trajectories of the at least one road user based on the relative speeds of the at least one road user. The Control means is adapted to automatically move the vehicle such that the vehicle is moved to a position outside the calculated trajectories.

According to a further development of the safety system, the driver assistance system further comprises a determination device which is designed to determine an expected impact area of the at least one road user on the vehicle based on the relative speeds of the at least one road user and to calculate a collision strength on the basis of the determined impact area, wherein the control device is designed to automatically move the vehicle in such a way that the expected impact area changes in such a way that the calculated collision strength is reduced and / or a collision is prevented.

According to a further development of the security system, the at least one sensor device comprises a rear-view camera for the continuous acquisition of camera images of a region located behind the vehicle. The particularly vulnerable rear area of the vehicle is thus specially monitored in order to prevent possible rear-end collisions or to reduce their strength.

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings.

Show it:

1 a schematic view of a traffic situation to explain the method according to the invention;

2 . 3 FIG. 2 is flowcharts for explaining methods for operating a driver assistance system according to embodiments of the present invention; FIG.

4 1 is a block diagram of a safety system for a vehicle according to an embodiment of the present invention; and

5 FIG. 3 is a block diagram of a vehicle according to an embodiment of the present invention. FIG.

1 shows a schematic view of an exemplary scenario, which is the more detailed explanation of a method according to the invention for operating a driver assistance system of a vehicle 10 serves. The term "vehicle" here is to be understood in particular a motor vehicle such as a passenger car or a truck.

The vehicle 10 drives on a right lane of a carriageway 12 , behind the vehicle 10 on the same track a first other road users 11 the vehicle 10 follows and in the direction of travel in front of the vehicle 10 on the opposite lane a second other road users 17 the vehicle 10 accommodates.

The vehicle 10 has a driver assistance system, which is designed to driving functions of the vehicle 10 to take over. Such driving functions may include, for example, an autonomous or partially autonomous driving of the vehicle, in particular an acceleration, deceleration or steering of the vehicle. In this case, the driver assistance system can refer in particular to the sensor data detected by vehicle sensors. Such vehicle sensors include in particular radar systems and / or lidar systems and / or vehicle cameras. In particular, the vehicle can 10 have a rearview camera. Preferably, the vehicle has 10 a surroundview system. The vehicle sensors are configured to receive sensor data of a vehicle environment of the vehicle 10 capture.

The driver assistance system of the vehicle 10 is inventively designed such that it driving functions, in particular all driving functions of the vehicle 10 only takes over, if vehicle doors of the vehicle 10 are closed. In particular, all vehicle doors of the vehicle must 10 be closed. According to one embodiment, the vehicle doors of the vehicle include 10 also a tailgate of the vehicle 10 , The vehicle 10 For this purpose, it may have a door monitoring device which detects whether the vehicle doors of the vehicle 10 are closed.

2 shows a flowchart for explaining a method for operating a driver assistance system of a vehicle according to an embodiment of the present invention.

In a first method step S1, the first additional road user becomes 11 and the second additional road user 17 in the vehicle environment of the vehicle 10 recognized by the driver assistance system based on the detected sensor data.

Will emergency braking of the vehicle 10 detected, it is detected in a second method step S2, whether a collision of the first road user 11 and / or the second road user 17 with the vehicle 10 probably is. In this case, based on the detected sensor data, a relative speed v1 of the first road user 11 relative to the vehicle 10 and a second relative velocity v2 of the second road user 17 relative to the vehicle 10 calculated. In particular, the magnitude and direction of the relative velocities v1, v2 are calculated. For example, it can be detected on the basis of the direction of the relative velocity, whether a collision of the first traffic participant 11 and / or the second traffic user 17 with the vehicle 10 probably is. In the in 2 For example, it can be seen that a collision of the first traffic participant 11 with the vehicle 10 probably is. Furthermore, it can be recognized that a collision of the second road user 17 with the vehicle 10 is not likely.

In a further method step S6, the vehicle 10 by the driver assistance system automatically by the first road user 11 and / or the second road user 17 moved away, if it is detected that a collision with the first road user 11 or the second road user 17 probably is.

The driving away of the vehicle from the first road user 11 and / or the second road user 17 Here is a driving function of the vehicle 10 , which is taken over by the driver assistance system only when it has been determined that the vehicle doors of the vehicle 10 are closed.

If the vehicle 10 Due to the emergency braking has already come to a standstill, the vehicle 10 especially be set in motion again. Both the steering direction and the vehicle speed of the vehicle 10 can be set automatically. Preferably, the vehicle 10 be automatically decelerated and / or brought to a standstill at the end of the movement process again.

In 3 FIG. 10 is a flowchart for explaining methods of operating a driver assistance system of the vehicle 10 illustrated in accordance with further embodiments of the present invention. After detecting S2, whether a collision of the first road user 11 and / or second road user 17 with the vehicle 10 is likely, in a further method step S3 becomes an expected first trajectory 11a and an expected second trajectory 17a of the first road user 11 or the second road user 17 calculated. For this purpose, a current position of the first road user 11 or second road user 17 determined on the basis of the detected sensor data and based on the calculated first relative speed v1 of the first road user 11 or the second relative speed v2 of the second road user 17 the expected first or second trajectory 11a . 17a calculated. Based on the calculated first trajectory 11a of the first road user 11 can be detected that a collision of the first road user 11 with the vehicle 10 probably is.

The automatic movement of the vehicle 10 is performed such that the vehicle 10 in a position outside the calculated trajectories 11a . 17a is moved.

In particular, the vehicle can 10 automatically into a position outside the calculated first trajectory 11a of the first road user 11 be moved, with which a collision was recognized as likely. Preferably, the vehicle 10 automatically moved to a position outside of the calculated trajectories 11a . 17a all recognized further road users 11 . 17 lies.

For example, the vehicle 10 automatically along a first evasion trajectory 15 on a side strip 13 the roadway 12 to be moved.

According to a preferred development, in an optional further method step S4, an expected impact area 18 of the first road user 11 on the vehicle 10 based on the first relative speed v1 of the first road user 11 be calculated.

In a further method step S5, a collision strength is determined on the basis of the determined impact area 18 calculated. In this case, in particular, a model for an inelastic impact can be used, wherein a mass of the first traffic participant 11 is estimated based on the detected sensor data or is set to a predetermined value. In the calculation of the collision severity, in particular a person occupancy of the first vehicle 10 to be included. So it can be detected which seats of the vehicle 10 are occupied. Is the expected impact area 18 in the vicinity of at least one vehicle occupant, for example in a side area of the vehicle 10 , so a large collision strength is calculated. If the first road user 11 the vehicle 10 on the calculated first trajectory 11a merely brushes, a small collision strength is calculated.

The automatic movement of the vehicle 10 is carried out in such a way that the expected impact area 18 changes such that the calculated collision strength is reduced and / or a collision is prevented. For example, it determines that the first road user 11 on the side of the vehicle 10 impinges, with a large collision strength is calculated, so the vehicle can 10 be moved so automatically that the impact area 18 so shifts that the first road user 11 the vehicle 10 only in the rear of the vehicle 10 strikes, where a small collision strength is calculated. Preferably, the collision of the vehicle 10 with the first road user 11 completely avoided.

According to a further embodiment, depending on the size and location of the expected impact area, a probability of a collision of the vehicle 10 with the first road user 11 be calculated. Based on the calculated second trajectory 17a For example, it can be recognized that a collision of the second road user 17 with the vehicle 10 is not likely.

In 1 are possible first, second and third evasion trajectories 14 . 15 and 16 drawn along which the vehicle 10 can be moved automatically. However, the invention is not limited thereto. Thus, any number of possible avoidance trajectories can be determined, in particular on the basis of the detected sensor data. The possible avoidance trajectories can be further classified on the basis of the sensor data, in particular according to their passability. Thus, for example, a side strip is recognized as very passable, a slope as bad passable and a river as not passable.

Because the third avoidance trajectory 16 of the vehicle 10 the calculated second trajectory 17a of the second road user 17 crosses, becomes the third evasion trajectory 16 not selected, but the vehicle 10 becomes along the first avoidance trajectory 14 or along the second avoidance trajectory 15 emotional. Preferably, the vehicle 10 along the second avoidance trajectory 15 on the side strip 13 moves, since the second avoidance trajectory 15 both outside the first trajectory 11a as well as the second trajectory 17a of the first and second road user 11 . 17 lies.

4 shows a block diagram of a security system 30 according to an embodiment of the present invention. The security system 30 includes a door monitoring device 37 , which is designed to detect whether vehicle doors of the vehicle 10 are closed. Preferably, the door monitoring device 37 be formed to recognize if all the vehicle doors of the vehicle 10 are closed.

Next includes the security system 30 a driver assistance system 40 , which is designed to driving functions of the vehicle 10 to take over. The driver assistance system 40 is designed to drive the vehicle 10 only to take over when the door monitoring device 37 determines that the vehicle doors of the vehicle 10 are closed.

The driver assistance system 40 further comprises a detection device 31 , which is designed emergency braking of the vehicle 10 to detect. For example, emergency braking can then be performed by the detection device 31 be recognized when the driver assistance system 40 of the vehicle 10 has initiated or carried out emergency braking. Next, the detection device 31 be designed to emergency braking the vehicle 10 to detect when braking the vehicle 10 or a negative acceleration of the vehicle 10 exceeds a predetermined value. The detection device 31 Thus, it may be adapted to emergency braking even in the case of one of a driver of the vehicle 10 detected emergency braking. The detection device 31 this may in particular have an acceleration sensor. Next, the detection device 31 an emergency braking of the vehicle based on a change in pressure on a brake pedal 10 detect.

Further includes the driver assistance system 40 at least one vehicle sensor 32 for continuously acquiring sensor data of a vehicle environment of the vehicle 10 , The vehicle sensor 32 In particular, a rear-view camera for continuously capturing camera images of one behind the vehicle 10 area. Next, the vehicle sensor 32 a radar system or a lidar system.

The driver assistance system 40 further comprises a road user recognizer 33 , Which is formed, based on the detected sensor data at least one other road users 11 . 17 in the vehicle environment of the vehicle 10 to recognize. The road user recognition device 33 For example, it can be designed to recognize another road user on the basis of edges and / or patterns and / or color and / or brightness changes in images produced on the basis of the sensor data.

The driver assistance system 40 further includes one with the road user recognizer 33 coupled speed determination device 34 , which is formed, a relative speed of the at least one road user relative to the vehicle 10 to determine.

Further includes the driver assistance system 40 a collision detection device 35 , Which is designed to, if the detecting device 31 emergency braking of the vehicle 10 detects, based on the relative speed of the at least one road user to detect whether a collision of the at least one road user with the vehicle 10 probably is.

In particular, the driver assistance system 40 an optional calculation device 38 which is configured to calculate expected trajectories of the at least one road user based on the relative speeds of the at least one road user. The collision detection device 35 may be designed based on the calculation means 38 calculated trajectories to detect whether a collision of the at least one road user with the vehicle 10 probably is.

Further includes the driver assistance system 40 a control device 36 , which is designed as soon as the collision detection device 35 recognizes that a collision with the at least one road user is likely, and if the door monitoring device 37 recognizes that the vehicle doors are closed, the vehicle 10 automatically move away from this road user. In particular, in a case where the collision detection device 35 recognizes that a collision with multiple road users is likely to be the vehicle 10 be moved away from all road users.

In particular, the control device 36 be designed to the vehicle 10 so automatically move that the vehicle 10 is moved to a position outside the calculated trajectories of all other road users.

The driver assistance system 40 comprises a determination device according to a preferred development 39 , which is designed, based on the relative speeds of the at least one road user an expected impact area of the at least one road user to the vehicle 10 to investigate. The determination device 39 is further designed to calculate a collision strength based on the determined impact area.

The control device 36 is designed to the vehicle 10 move so automatically that the expected impact area changes so that the calculated collision strength is reduced and / or a collision is prevented.

5 shows a block diagram of a vehicle 10 with a security system 30 , in particular according to one of the embodiments described above.

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 102004038734 A1 [0002]

Claims (15)

Method for operating a driver assistance system ( 40 ) of a vehicle ( 10 ), the driver assistance system ( 40 ) Driving functions of the vehicle ( 10 ) only if it is determined that vehicle doors of the vehicle ( 10 ), in particular all vehicle doors of the vehicle ( 10 ) are closed. Method according to claim 1, wherein the driver assistance system ( 40 ) the vehicle ( 10 ) set in motion from a standstill. Method according to one of claims 1 or 2, wherein the driver assistance system ( 40 ) performs the following steps: detecting (S1) of at least one further road user ( 11 . 17 ) in a vehicle environment of the vehicle ( 10 ) based on detected sensor data of the vehicle environment of the vehicle ( 10 ); and detecting (S2) whether a collision of the at least one road user ( 11 . 17 ) with the vehicle ( 10 ) is likely; the vehicle ( 10 ) by the driver assistance system ( 40 ) automatically from the at least one road user ( 11 ) is moved away (S6) if a collision with this road user ( 11 . 17 ) is likely. The method of claim 3, wherein detecting whether a collision of the at least one road user ( 11 . 17 ) with the vehicle ( 10 ) is likely, based on a relative speed (v1, v2) of the at least one road user ( 11 . 17 ) relative to the vehicle ( 10 ) is carried out. Method according to claim 3 or 4, wherein the detection of whether a collision of the at least one road user ( 11 . 17 ) with the vehicle ( 10 ) is likely to be carried out if emergency braking of the vehicle ( 10 ) is detected. Method according to one of Claims 3 to 5, with the further step of calculating (S3) expected trajectories ( 11a . 17a ) of the at least one road user ( 11 . 17 ) based on the relative speeds (v1, v2) of the at least one road user ( 11 . 17 ); whereby the automatic moving away of the vehicle ( 10 ) by the driver assistance system ( 40 ) is performed such that the vehicle ( 10 ) to a position outside the calculated trajectories ( 11a . 17a ) is moved. Method according to one of claims 3 to 6, with the further steps: determining (S4) an expected impact area ( 18 ) of the at least one road user ( 11 . 17 ) on the vehicle ( 10 ) based on the relative speeds (v1, v2) of the at least one road user ( 11 . 17 ); Calculating (S5) a collision strength based on the determined impact area ( 18 ); whereby the automatic moving away of the vehicle ( 10 ) by the driver assistance system ( 40 ) is performed such that the expected impact area ( 18 ) changes such that the calculated collision strength is reduced and / or a collision is prevented. Security system ( 30 ) for a vehicle ( 10 ), comprising: a door monitoring device ( 37 ), which is designed to detect whether vehicle doors of the vehicle ( 10 ), in particular all vehicle doors of the vehicle ( 10 ), are closed; and a driver assistance system ( 40 ), the driver assistance system ( 40 ) Driving functions of the vehicle ( 10 ) only if it is determined that vehicle doors of the vehicle ( 10 ), in particular all vehicle doors of the vehicle ( 10 ) are closed. Security system ( 30 ) according to claim 8, wherein the driver assistance system ( 40 ) is adapted to the vehicle ( 10 ) to move from standstill in motion. Security system ( 30 ) according to one of claims 8 or 9, wherein the driver assistance system ( 40 ) comprises: a detection device ( 31 ), which is designed, an emergency braking of the vehicle ( 10 ) to detect; at least one sensor device ( 32 ) for continuously acquiring sensor data of a vehicle environment of the vehicle ( 10 ); a road user recognition device ( 33 ), which is designed on the basis of the detected sensor data at least one further road user ( 11 . 17 ) in the vehicle environment of the vehicle ( 10 ) to recognize; a speed determination device ( 34 ), which is formed, a relative speed (v1, v2) of the at least one road user ( 11 . 17 ) relative to the vehicle ( 10 ) to determine; a collision detection device ( 35 ), which is formed if the detection device ( 31 ) emergency braking of the vehicle ( 10 ), based on the relative speed (v1, v2) of the at least one road user ( 11 . 17 ) to detect whether a collision of the at least one road user ( 11 . 17 ) with the vehicle ( 10 ) is likely; and a control device ( 36 ), which is formed as soon as the collision detection device ( 35 ) recognizes that a collision with the at least one road user ( 11 . 17 ) is likely, the vehicle ( 10 ) automatically from this road user ( 11 . 17 ) to move away. Security system according to claim 10, wherein the control device ( 36 ), the vehicle ( 10 ) automatically by the road user ( 11 . 17 ) to move away after the vehicle ( 10 ) has come to a standstill due to emergency braking. Safety system according to one of claims 10 or 11, wherein the driver assistance system ( 40 ) further comprises: a calculation device ( 38 ), which is designed to be expected trajectories ( 11a . 17a ) of the at least one road user ( 11 . 17 ) based on the relative speeds (v1, v2) of the at least one road user ( 11 . 17 ) to calculate; the control device ( 36 ) is adapted to the vehicle ( 10 ) so automatically that the vehicle ( 10 ) to a position outside the calculated trajectories ( 11a . 17a ) is moved. Security system according to one of claims 10 to 12; the driver assistance system ( 40 ) a determination device ( 39 ), which is designed, based on the relative speeds (v1, v2) of the at least one road user ( 11 . 17 ) an expected impact area ( 18 ) of the at least one road user ( 11 . 17 ) on the vehicle ( 10 ) and based on the identified impact area ( 18 ) to calculate a collision strength; the control device ( 36 ) is adapted to the vehicle ( 10 ) so automatically that the expected impact area ( 18 ) such that the calculated collision strength is reduced and / or a collision is prevented. Security system according to one of claims 8 to 13, wherein the at least one sensor device ( 32 ) a rear camera for continuously capturing camera images of one behind the vehicle ( 10 ). Vehicle ( 10 ) with a security system according to one of claims 8 to 14.

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