DE102016212727A1 - Device and method for adjusting areas for warning a driver - Google Patents
Device and method for adjusting areas for warning a driver Download PDFInfo
- Publication number
- DE102016212727A1 DE102016212727A1 DE102016212727.6A DE102016212727A DE102016212727A1 DE 102016212727 A1 DE102016212727 A1 DE 102016212727A1 DE 102016212727 A DE102016212727 A DE 102016212727A DE 102016212727 A1 DE102016212727 A1 DE 102016212727A1
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- Prior art keywords
- warning
- vehicle
- warning area
- area
- lane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2552/00—Input parameters relating to infrastructure
Abstract
Verfahren zum Anpassen eines Warnbereichs für einen Fahrer eines Fahrzeugs (1) mit einem Umfelderfassungssystem, das einen Bereich seitlich-hinter einem Fahrzeug überwacht und einen Warnbereich seitlich-hinter dem Fahrzeug festlegt, wobei der Warnbereich an einen Fahrspurverlauf oder eine Fahrbahnbegrenzung angepasst wird.A method for adjusting a warning area for a driver of a vehicle (1) having an environment detection system that monitors an area laterally behind a vehicle and defines a warning area laterally behind the vehicle, wherein the warning area is adapted to a lane course or a lane boundary.
Description
Die Erfindung betrifft eine Warneinrichtung in einem Umfelderfassungssystem für ein Fahrzeug. The invention relates to a warning device in an environment detection system for a vehicle.
Stand der Technik State of the art
Moderne Fahrzeuge werden in zunehmender Weise mit Umfelderfassungssystemen ausgestattet. Diese Systeme verwenden beispielsweise Radarsensoren oder Kameravorrichtungen, um die Umgebung des Fahrzeugs zu überwachen und Objekte oder weitere Fahrzeuge in diesem Bereich zu erkennen. Aus den erkannten Objekten oder Fahrzeugen wird eine mögliche Gefährdung des Fahrzeugs bestimmt. Die Systeme weisen eine Warnvorrichtung auf, die den Fahrer gegebenenfalls vor der Gefährdung warnt. Modern vehicles are increasingly being equipped with environment detection systems. For example, these systems use radar sensors or camera devices to monitor the environment of the vehicle and detect objects or other vehicles in that area. From the detected objects or vehicles, a possible hazard to the vehicle is determined. The systems have a warning device which warns the driver if necessary of the hazard.
Solche Systeme sind unter dem Begriff Lane Change Assist (LCA) und Blind Spot Detection (BSD) beispielsweise aus
Die bekannten Warnvorrichtungen müssen eine hohe Zuverlässigkeit aufweisen, da häufige Warnungen ohne Vorliegen einer Gefährdung (Fehlwarnung) das Vertrauen des Fahrers in diese Vorrichtungen reduziert und diese dadurch nicht mehr beachtet werden. The known warning devices must have a high reliability, since frequent warnings without the presence of a hazard (false warning) reduces the confidence of the driver in these devices and these are no longer respected.
Aufgabe und Lösung Task and solution
Die Aufgabe der Erfindung ist es, ein Verfahren und eine Vorrichtung zum Warnen eines Fahrers dahingehend zu verbessern, dass die Anzahl von Fehlwarnungen an den Fahrer verringert wird. The object of the invention is to improve a method and a device for warning a driver in such a way that the number of false warnings to the driver is reduced.
Gelöst wird die Aufgabe durch ein Verfahren gemäß dem unabhängigen Anspruch, sowie einer Warnvorrichtung gemäß dem Nebenanspruch. Weitere vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche. The object is achieved by a method according to the independent claim, as well as a warning device according to the independent claim. Further advantageous embodiments of the invention are the subject of the dependent claims.
Das erfindungsgemäße Verfahren zum Anpassen eines Warnbereichs für einen Fahrer eines Fahrzeugs mit einem Umfelderfassungssystem überwacht einen Bereich seitlich-hinter einem Fahrzeug, insbesondere zur Spurwechselassistenz, und legt einen Warnbereich seitlich-hinter dem Fahrzeug fest, wobei der Warnbereich an einen Fahrspurverlauf oder eine Fahrbahnbegrenzung angepasst wird. The inventive method for adjusting a warning area for a driver of a vehicle with an environment detection system monitors an area laterally behind a vehicle, in particular for lane change assistance, and sets a warning area laterally behind the vehicle, the warning area is adapted to a lane course or a lane boundary ,
In vorteilhafter Weise passt sich der Warnbereich an den tatsächlichen Spurverlauf dynamisch an, sodass eine Fehlwarnung vor Fahrzeugen, die sich auf der gleichen Spur wie das Egofahrzeug aber seitlich-hinter dem Egoahrzeug befinden, nicht erfolgt. Advantageously, the warning range adapts dynamically to the actual lane course, so that a false warning in front of vehicles that are on the same lane as the ego vehicle but laterally behind the electric vehicle does not occur.
In weiter vorteilhafter Weise wird durch das Anpassen des Warnbereichs bis zur Fahrbahnbegrenzung auch vor Fahrzeugen gewarnt, die sich zwischen Fahrspur und Fahrbahnbegrenzung befinden. Beispielsweise kann vor Motorräder, die am äußeren Rand der Nachbarspur fahren gewarnt werden. Alternativ können auch laterale Messfehler des Sensorsystems auf funktionaler Ebene kompensiert werden. In a further advantageous manner, by adapting the warning range to the road boundary, warning is also given of vehicles which are located between the traffic lane and the road boundary. For example, may be warned in front of motorcycles that drive on the outer edge of the neighboring lane. Alternatively, lateral measurement errors of the sensor system at the functional level can be compensated.
Bevorzugt kann der Warnbereich ferner an eine Trajektorie des Fahrzeugs angepasst werden. Preferably, the warning range can be further adapted to a trajectory of the vehicle.
In vorteilhafter Weise kann aus der Trajektorie des Fahrzeugs der Fahrspurverlauf der zurückgelegten Fahrstrecke erkannt werden und der Warnbereich an den Spurverlauf angepasst werden. Die Wahrscheinlichkeit für eine Fehlwarnung kann dadurch weiter verbessert werden. Advantageously, the lane course of the traveled route can be recognized from the trajectory of the vehicle and the warning area can be adapted to the lane course. The probability of a false warning can be further improved.
Weiter bevorzugt kann die Trajektorie wenigstens einen der folgenden Kinematikwerte umfassen: Geschwindigkeit, Gierrate und Lenkwinkel. More preferably, the trajectory may include at least one of the following kinematics values: speed, yaw rate and steering angle.
In vorteilhafter Weise ermöglicht mindestens einer der Kinematikwerte ein Bestimmen der zurückgelegten Fahrstrecke und damit eine verbesserte Anpassung des Warnbereichs an den Spurverlauf. In an advantageous manner, at least one of the kinematics values makes it possible to determine the distance traveled and thus to improve the adaptation of the warning area to the course of the lane.
In einer weiteren Ausgestaltung der Erfindung kann der Warnbereich bei einer Kurvenfahrt verkürzt werden. In a further embodiment of the invention, the warning area can be shortened when cornering.
In vorteilhafter Weise führt eine Verkürzung des Warnbereichs zu einer Verringerung der Fehlwarnungen in beispielsweise Kreisverkehren. Anhand der Geschwindigkeit in Kombination mit dem Lenkwinkel oder der Gierrate kann auf befahrene enge Kurven oder Kreisverkehre geschlossen werden und der Warnbereich dementsprechend angepasst werden. Advantageously, a shortening of the warning range leads to a reduction in false alarms in, for example, roundabouts. On the basis of the speed in combination with the steering angle or the yaw rate can be closed on busy tight curves or roundabouts and the warning range can be adjusted accordingly.
Bevorzugt kann der Warnbereich beim Erkennen eines Abbiegevorgangs verkürzt werden. Beispielsweise erfolgt durch das Abbiegen ein Überwachen von Fahrbahnabschnitten, aus denen beim Abbiegen für das Fahrzeug keine Gefahr droht. Vor erkannten Fahrzeugen in diesen Bereichen braucht daher nicht gewarnt zu werden. Ein Abbiegevorgang kann ebenfalls anhand der Geschwindigkeit oder des Lenkwinkels erkannt werden. Ferner ist es auch möglich einen Abbiegevorgang an den aktivierten eigenen Fahrrichtungsanzeigern zu erkennen. Preferably, the warning range can be shortened when detecting a turn. For example, by turning a monitoring of road sections from which threatens when turning for the vehicle no danger. It is therefore not necessary to be warned about recognized vehicles in these areas. A turn can also be detected by speed or steering angle. Furthermore, it is also possible to detect a turning operation on the activated own driving direction indicators.
Weiter bevorzugt kann der Warnbereich ferner an eine detektierte Randbebauung angepasst werden. In vorteilhafter Weise wird der Warnbereich dann auf überfahrbare Randbebauung ausgedehnt. Beispielsweise wird der Warnbereich über die Nebenspur hinaus erweitert, wenn ein Grünstreifen als Randbebauung vorhanden ist. Ist hingegen eine Leitplanke als Randbebauung vorhanden, so kann der Warnbereich an dieser Leitplanke enden, denn die Leitplanke ist nicht durch andere Fahrzeuge überfahrbar. Further preferably, the warning area can also be adapted to a detected edge development. Advantageously, the warning area is then extended to drivable edge development. For example, the warning area is extended beyond the side lane if a green area exists as a perimeter area. If, on the other hand, a guardrail is available as an edge development, then the warning area at this guardrail can end, because the Guardrail is not passable by other vehicles.
In einer weiteren Ausgestaltung der Erfindung kann der Warnbereich ferner an eine Anzahl der Fahrspuren angepasst werden. In vorteilhafter Weise erfolgt eine Warnung nur dann, wenn Fahrzeuge auf der, an die eigene Spur angrenzenden, Nebenspur erkannt werden. In a further embodiment of the invention, the warning range can also be adapted to a number of lanes. Advantageously, a warning only occurs when vehicles are detected on the, adjacent to the own lane, secondary lane.
Erfindungsgemäß ist eine Warnvorrichtung in einem Fahrzeug zum Durchführen eines der bevorzugten Verfahren eingerichtet. According to the invention, a warning device is arranged in a vehicle for carrying out one of the preferred methods.
Figurenbeschreibung figure description
In
Die Warnbereiche links
In
Im Vergleich zu
In
Die Ausführungsbeispiele aus den
In
Ebenso können Informationen über die Spurbreite auch aus Karten stammen oder von anderen Fahrzeugen übermittelt worden sein. Likewise, track width information may also be from maps or transmitted from other vehicles.
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- EP 1598233 A2 [0003] EP 1598233 A2 [0003]
Claims (8)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016212727.6A DE102016212727A1 (en) | 2016-07-13 | 2016-07-13 | Device and method for adjusting areas for warning a driver |
PCT/DE2017/200067 WO2018010742A1 (en) | 2016-07-13 | 2017-07-12 | Device and method for adapting regions for warning a driver |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102016212727.6A DE102016212727A1 (en) | 2016-07-13 | 2016-07-13 | Device and method for adjusting areas for warning a driver |
Publications (1)
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DE102016212727A1 true DE102016212727A1 (en) | 2018-01-18 |
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DE102016212727.6A Pending DE102016212727A1 (en) | 2016-07-13 | 2016-07-13 | Device and method for adjusting areas for warning a driver |
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DE (1) | DE102016212727A1 (en) |
WO (1) | WO2018010742A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020213514A1 (en) | 2020-10-28 | 2022-04-28 | Volkswagen Aktiengesellschaft | Situation-dependent definition of observation areas for at least partially autonomously operated motor vehicles |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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GB201712004D0 (en) * | 2017-07-26 | 2017-09-06 | Jaguar Land Rover Ltd | Proximity sensing systems and their control |
Citations (5)
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DE19921449C1 (en) * | 1999-05-08 | 2001-01-25 | Daimler Chrysler Ag | Guide assistance when changing the lane of a motor vehicle |
EP1598233A2 (en) | 2004-05-17 | 2005-11-23 | Nissan Motor Company, Limited | Lane change assist system |
DE102006018585A1 (en) * | 2006-04-21 | 2007-10-25 | Valeo Schalter Und Sensoren Gmbh | Assistance system for motor vehicles |
DE102007007540A1 (en) * | 2007-02-15 | 2008-08-21 | Siemens Ag | Object detecting and tracking device for motor vehicle, has object tracking device determining position of detected objects based on position of objects relative to reference vehicle in spatial relation to geometry of lane |
DE102012204948A1 (en) * | 2012-03-28 | 2013-10-02 | Robert Bosch Gmbh | Method for assisting driver when driving vehicle at changing lanes, involves assigning vehicle and detected objects to tracks of roadway, and generating warning signal when detected object regarding vehicle is located on relevant track |
Family Cites Families (7)
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DE19637245C2 (en) * | 1996-09-13 | 2000-02-24 | Bosch Gmbh Robert | Method and device for regulating the speed of a vehicle |
DE19904097B4 (en) * | 1999-02-02 | 2006-06-14 | Valeo Schalter Und Sensoren Gmbh | System and method for monitoring an area on the side of a vehicle |
DE102004031771A1 (en) * | 2004-07-01 | 2006-01-26 | Robert Bosch Gmbh | Lane change assistant for motor vehicles |
DE102006054220A1 (en) * | 2006-11-15 | 2008-05-21 | Robert Bosch Gmbh | Method and device for regulating the speed of a motor vehicle |
ES2344880B1 (en) * | 2008-12-18 | 2011-06-28 | Cion De Galicia Fundacion Para La Promocion De Innovacion, Investigacion Y Desarrollo Tecnolog. En La Ind. De Automo | SYSTEM AND METHOD OF ASSISTANCE TO CHANGE OF LANE WITH ADAPTIVE EVALUATION AREA. |
DE102011003614A1 (en) * | 2011-02-03 | 2012-08-09 | Robert Bosch Gmbh | Method for defining a search corridor in a monitoring system in a vehicle |
SE540272C2 (en) * | 2014-04-01 | 2018-05-22 | Scania Cv Ab | Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes |
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2016
- 2016-07-13 DE DE102016212727.6A patent/DE102016212727A1/en active Pending
-
2017
- 2017-07-12 WO PCT/DE2017/200067 patent/WO2018010742A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19921449C1 (en) * | 1999-05-08 | 2001-01-25 | Daimler Chrysler Ag | Guide assistance when changing the lane of a motor vehicle |
EP1598233A2 (en) | 2004-05-17 | 2005-11-23 | Nissan Motor Company, Limited | Lane change assist system |
DE102006018585A1 (en) * | 2006-04-21 | 2007-10-25 | Valeo Schalter Und Sensoren Gmbh | Assistance system for motor vehicles |
DE102007007540A1 (en) * | 2007-02-15 | 2008-08-21 | Siemens Ag | Object detecting and tracking device for motor vehicle, has object tracking device determining position of detected objects based on position of objects relative to reference vehicle in spatial relation to geometry of lane |
DE102012204948A1 (en) * | 2012-03-28 | 2013-10-02 | Robert Bosch Gmbh | Method for assisting driver when driving vehicle at changing lanes, involves assigning vehicle and detected objects to tracks of roadway, and generating warning signal when detected object regarding vehicle is located on relevant track |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020213514A1 (en) | 2020-10-28 | 2022-04-28 | Volkswagen Aktiengesellschaft | Situation-dependent definition of observation areas for at least partially autonomously operated motor vehicles |
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Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE Free format text: FORMER OWNER: CONTI TEMIC MICROELECTRONIC GMBH, 90411 NUERNBERG, DE |
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