DE102018131453A1 - Method for determining a collision risk of a means of transportation - Google Patents

Abstract

The invention relates to a method, a device and a means of transportation (80) for determining a risk of collision of the means of transportation (80). The method comprises the steps: determining first movement information of the means of transport (80) by means of a sensor system (30) of the means of transport (80), receiving second movement information from a further traffic participant (90), the second movement information being based on a mobile terminal (40) of the other road user (90) are determined, evaluating a risk of collision of the means of transportation (80) with the other road user (90) by comparing the first movement information with the second motion information, and outputting a signal in the means of transportation (80) representing a risk of collision of the means of transportation (80 ) with the other road user (90).

Description

The present invention relates to a method, a device and a means of transportation for determining a risk of collision of the means of transportation with another road user.

Portable mobile devices, such as mobile phones, smartphones, smart watches, tablet computers, etc., are known from the prior art, which have integrated sensors for satellite-based location and mobile radio units, on the one hand to determine the position of the location on the basis of the sensors for satellite-based location to enable a mobile terminal and, on the basis of the mobile radio units, a radio connection to other mobile radio subscribers and / or for Internet access. In addition, such portable mobile devices also frequently have inertial measuring units by means of which current movement information of the portable mobile device can be determined.

Furthermore, so-called apps (i.e., separately installable applications for the portable mobile devices) are known from the prior art, which can provide different functions in the mobile device on the basis of the sensors described above. In this context, for example, apps are known which alert a user to the presence of another person (for example a person stored in an address book of the mobile terminal) as soon as the app ascertains that the other person is around the user within a predefined radius stops.

In addition, modern means of transportation are known from the prior art which have an environment sensor system by means of which an environment of the means of transportation can be monitored. Here, for example, environment sensors such as cameras, radar, LIDAR, ultrasound or acoustic sensors are used in order to determine the positions and movement information of other road users in the field of view of the respective environment sensors. The determined positions and movement information of the other road users can then be used in driver assistance systems and / or in systems for fully automated driving of the means of transportation, for example to prevent collisions with the other road users.

It is an object of the present invention to provide a method, an apparatus and a means of transportation for determining a risk of collision of a means of transportation with another road user, the risk of collision being able to be assessed, in particular, also beyond a direct line of sight between the means of transportation and the other road user.

The object identified above is achieved by the features of the independent claims. The dependent claims contain preferred developments of the invention.

According to a first aspect of the present invention, a method for determining a collision risk of a means of transportation is proposed. In a first step of the method according to the invention, first movement information of the means of transportation is determined by means of a sensor system of the means of transportation. The means of transportation can be, for example, a road vehicle (e.g. motorcycle, car, van, truck) or a rail vehicle or an aircraft / aircraft or a watercraft. Furthermore, the method steps described below can be carried out by a device according to the invention in this means of transportation. For this purpose, the device according to the invention can comprise an evaluation unit with a data input and a data output, which executes a computer program implementing the method steps. The sensor system of the means of transportation can include, for example, a sensor for satellite-based positioning, acceleration sensors, wheel speed sensors, steering angle sensors, etc. Through a direct and / or indirect information technology connection of such a sensor system to the data input of the evaluation unit, the evaluation unit can determine a current position of the means of transportation, for example on the basis of the sensor for satellite-based positioning and / or on the basis of an odometry method which can use the above-mentioned sensors , be determined. The first movement information of the means of transport can be calculated on the basis of a plurality of position determinations at different times and / or on the basis of the abovementioned sensors, the first movement information in addition to the first position also information about a first trajectory and / or a first speed and / or may include a first acceleration of the means of transportation. The first movement information can preferably be determined repeatedly at predefined intervals during a journey of the means of transport. Furthermore, the determined first movement information can be stored in an internal and / or external storage unit of the evaluation unit which is connected to the evaluation unit according to the invention for subsequent processing.

In a second step of the method according to the invention, second Receive motion information from another road user, the second motion information being determined on the basis of a mobile terminal of the other road user. The other road user can be, for example, a pedestrian or a user of another means of transportation (eg car, motorcycle, bicycle, etc.). The second movement information can be determined analogously to the first movement information on the basis of a sensor for satellite-based positioning and / or on the basis of inertial measuring units of the mobile terminal. The mobile terminal can preferably be a portable mobile terminal, in particular a tablet computer and preferably a mobile phone. The portable mobile device (hereinafter abbreviated as "mobile device") can also be a smartphone, a smart watch or a mobile device of another type. Alternatively or additionally, a means of transportation of the other road user can comprise a further evaluation unit, by means of which the second movement information can be determined analogously to the evaluation unit described above. By means of a wireless communication device of the mobile terminal, the second movement information can be transmitted into an environment of the mobile terminal and received by the means of transportation. The wireless communication device of the mobile terminal can be set up, inter alia, to establish a WLAN, Bluetooth, or a mobile radio connection for transmitting the second movement information. Depending on the transmission technology used for transmission and / or depending on the distance between the means of transportation and the other road user, the second motion information can be transmitted by the other road user by means of a direct (Car2X) and / or an indirect wireless communication link (e.g. via mobile radio stations, servers, etc.) be transferred to the means of transportation. The second movement information received by means of a wireless communication connection of the means of transportation can also be stored in the memory unit connected to the evaluation unit for subsequent processing.

In a third step of the method according to the invention, a risk of collision of the means of transportation with the other road user is assessed by comparing the first movement information with the second movement information. The evaluation is advantageously carried out by means of the computer program executed by the evaluation unit. An algorithm implemented by means of the computer program can, for example, first compare the first trajectory and the second trajectory in order to determine a potential intersection of the two trajectories, which can represent a potential collision location of the means of transportation and the other road user. For this purpose, based on suitable mathematical methods and on a history of the first and second movement information, estimates can be made for a future course of the first and the second trajectory by means of the evaluation unit. Alternatively or additionally, map data can advantageously also be taken into account when estimating the future course of the first and the second trajectory. This enables the evaluation unit to locate the first position and the second position in each case on a map represented by the map data and, in response to this, to determine traffic routes for the means of transportation and the other road users that are currently used and recorded in the map. The information about currently used traffic routes can be used to estimate future courses of the first and second trajectories more reliably by taking the real courses of the used traffic routes into account accordingly. In particular, if the estimation of the future courses of the respective trajectories suggests a potential collision location, further information of the first and second movement information can be used to estimate an actual collision risk. By using the speed and / or acceleration information of the first and second movement information to estimate expected times for the potential collision location to be reached by the means of transport and the other road users, a collision risk can be classified as low in the event that the respective times for reaching the potential collision location deviate more than a predefined deviation. Conversely, a high risk of collision can be assumed if a deviation in the determined points in time is less than or equal to the predefined deviation. In this way, gradations for a collision risk can also be determined by determining the collision risk, for example, in a linear dependence on a level of a deviation between the determined times. In addition to a linear dependency, other dependencies can also be taken into account here.

In a fourth step of the method according to the invention, a signal is output in the means of transportation which represents a risk of collision of the means of transportation with the other road user. The signal can be, for example, an acoustic and / or optical and / or haptic signal. The acoustic signal can be output for example by means of a loudspeaker of an audio system of the means of transportation. The optical signal can, for example, in Form of a message on a display of the means of transportation and / or by means of a warning light of the means of transportation. The haptic signal can be output, for example, by a vibration of a steering wheel of the means of transportation and / or a vibration of a seat used by the user. The signal is preferably only output if a predefined threshold for a collision risk is exceeded when evaluating a current collision risk. In this way it can be ensured that the user of the means of transport is not distracted or disturbed due to risk warnings that are too frequent and possibly not relevant.

It should be pointed out that both the determination of the first movement information in the means of transport and the determination of the second movement information in the mobile terminal of the other traffic participant can each take place on the basis of one and the same app (application), which is carried out by the evaluation unit of the means of transport and / or can be executed by the further evaluation unit of the mobile terminal of the other road user. For example, the app can be obtained from a so-called app store and installed on the respective evaluation units. In addition, it is also conceivable to determine the first movement information in the means of transportation likewise on the basis of a mobile terminal device which is carried in the means of transportation and which is preferably wirelessly or also wired to the means of transportation.

In an advantageous embodiment of the present invention, when evaluating the risk of collision of the means of transportation with the other road user, a type of transportation of the other road user and / or a type of traffic route used by the user of the means of transportation and / or by the means of transportation is taken into account. The type of locomotion of the other road user can be adapted to a particular locomotion, for example by means of user input in the app according to the invention, and / or can be determined automatically by the app. The latter can be determined on the basis of a signal from the sensor for satellite-based location (e.g. a signal from a GPS sensor) and / or on the basis of signals from the inertial measuring unit, by analyzing and evaluating the signal curves of these signals corresponding to a particular type of locomotion. The type of traffic route used by the second road user can be determined in particular by means of the signal from the sensor for satellite-based location of the mobile terminal device, by comparing second positions of the other road user represented by the signal from the sensor for satellite-based location, as described above, with suitable map information , which comprise the different available traffic routes and which can be stored in a storage unit of the mobile terminal. In addition, the type of locomotion and / or the type of traffic route used can also be determined on the basis of cameras present in the mobile terminal and / or in the means of locomotion and coupled with the respective evaluation units in terms of information technology. The map information can also include further information that can be relevant for assessing the collision risk, such as information about traffic light positions and / or accident focal points.

Alternatively or additionally, typical second movement information of other road users determined by means of a crowd sourcing method can also be taken into account when evaluating the collision risk. This will be briefly explained using the following specific example. For example, if a plurality of people in a pedestrian zone are moving toward a street that closes the pedestrian zone at one end, it may be advantageous to have information that indicates what proportion of the plurality of people reach the street when they reach the street crosses (it is assumed here that there are no pedestrian lights) and which part continues to cross left or right along the street without crossing the street. If, for example, only 10% of the majority of people cross the street, this information can lead to a correspondingly lower risk of collision at this position when assessing the collision risk for a person who participates in the method according to the invention by means of a mobile terminal, since the probability of a crossing the road is relatively small. The crowd sourcing process can be carried out, for example, by centralizing a plurality of movement profiles of a plurality of people. Further alternatively or additionally, information about objects restricting the view in the environment of the means of transport can also be taken into account when evaluating the collision risk. Such objects can be, for example, buildings, construction site fences, greening of streets, etc. This information can also be provided and taken into account in the form of map information.

In a further advantageous embodiment of the present invention, the signal representing a risk of collision can be output as a function of a line of sight of a driver of the means of transportation. That is, a driver's line of sight, for example, by means of a Interior camera of the means of transportation can be detected and evaluated by means of a driver assistance system of the means of transportation. The information obtained in this way about the driver's line of sight can be made available to the evaluation unit according to the invention via an on-board network of the means of transportation, so that the evaluation unit represents the signal representing a collision risk only when the driver does not look at other road users who are relevant to the collision Environment of the means of transportation is directed.

In a further advantageous embodiment of the present invention, the signal can alternatively or additionally be used to output an optical and / or haptic and / or acoustic message from a driver assistance system of the means of transportation and / or from a system for fully automated driving of the means of transportation. The driver assistance system can be a so-called pre-crash system, for example, which is set up to initiate appropriate safety measures in the means of transportation in the immediate run-up to a potential collision (e.g. tightening the belt, automatically decelerating the means of transportation, etc.). In the event that a correspondingly high collision risk has been determined, such measures can advantageously be carried out accordingly. A system for fully automated driving can initiate similar measures in the event of an increased risk of collision, but it can also perform an automatic evasive maneuver, for example. Further alternatively or additionally, the signal can also be used to transmit an information message to the other road user. This means that information about an increased risk of collision found in the means of transportation can be transmitted to the other road user via a wireless communication link between the means of transportation and the other road user, so that the mobile terminal of the other road user has a corresponding optical and / or haptic and / or or issue an acoustic warning to warn other road users.

In a further advantageous embodiment of the present invention, the second movement information can be checked for plausibility on the basis of an environment sensor system of the means of transport. This means that the second movement information received from the other road user can also be determined on the basis of an environment detection system of the means of transport. Such an environment detection system can use cameras, ultrasound, radar and LIDAR sensors, for example, in order to be able to capture the environment of the means of transportation as seamlessly as possible and under different boundary conditions, always with sufficient quality. By using evaluation and data fusion algorithms known from the prior art, objects and their movements in the environment of the means of transportation can thus be determined. By comparing the second movement information with the objects determined in the means of transportation or their movements, a plausibility check of the second movement information can be carried out, which can lead to a more reliable assessment of the collision risk.

In summary, it can be stated that the method according to the invention can also determine a collision risk in connection with the issuing of a warning notice, in particular if there is no direct line of sight between the means of transport and the potentially collision-relevant other road user. As a result, with the aid of the method according to the invention, traffic safety can be increased accordingly for all persons involved in the method according to the invention.

According to a second aspect of the present invention, a device for determining a risk of collision of a means of transportation is proposed. The device comprises an evaluation unit with a data input and a data output. The evaluation unit can be designed as a processor, digital signal processor, microcontroller, or the like, and can be connected in terms of information technology to an internal and / or external storage unit, in which data received by the evaluation unit and / or data calculated by the evaluation unit can be stored . The method steps according to the invention can be carried out by means of a computer program implementing the method steps (for example in the form of an app according to the invention), which is carried out by the evaluation unit. In conjunction with the data input, the evaluation unit is set up to determine first movement information of the means of transportation by means of a sensor system of the means of transportation and to receive second movement information from another road user. The second movement information can be received, for example, by means of a wireless communication unit of the means of transport, which is connected in terms of information technology to the data input of the evaluation unit according to the invention. Furthermore, the evaluation unit is set up, a collision risk of the To evaluate means of transportation with the other road user by comparing the first movement information with the second movement information. In connection with the data output, the evaluation unit is also set up to output a signal representing a risk of collision of the means of transportation with the other road user in the means of transportation. For this purpose, the evaluation unit can be connected, for example in terms of information technology, to an audio system and / or a display and / or a vibration device of the means of transportation, in order to be able to output a corresponding warning in the means of transportation by means of one or more of the output devices mentioned.

According to a third aspect of the present invention, a means of transportation is proposed which comprises a device according to the second aspect of the invention. The features, combinations of features and the advantages resulting from these correspond to the features explained in connection with the first and second-mentioned aspects of the invention in such a way that reference is made to the above statements in order to avoid repetitions.

• 1 ein Flussdiagramm veranschaulichend Schritte eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens;
• 2 eine schematische Übersicht über Komponenten einer erfindungsgemäßen Vorrichtung in Verbindung mit einem Fortbewegungsmittel; und
• 3 ein Beispiel für eine mit einem Kollisionsrisiko behaftete Verkehrssituation.

Further details, features and advantages of the invention result from the following description and the figures. Show it:

• 1 a flow diagram illustrating steps of an embodiment of a method according to the invention;
• 2nd a schematic overview of components of a device according to the invention in connection with a means of transportation; and
• 3rd an example of a traffic situation with a collision risk.

1 shows a flow diagram illustrating steps of an embodiment of a method according to the invention. In the first step 100 In the method according to the invention, first movement information of a means of transportation becomes 80 , which is a car here, using a GPS sensor 30th of the means of transportation 80 determined. For this purpose, an evaluation unit according to the invention 10th of the means of transportation 80 information technology via an on-board network of the means of transportation 80 with a control device of the means of transportation 80 connected, which is the GPS sensor 30th as a sensor for satellite-based positioning. The control unit here is an on-board computer system which is set up, signals from the GPS sensor 30th to receive and use in a navigation system of the on-board computer. Based on that in the evaluation unit 10th received GPS signals is the evaluation unit 10th capable of a first position, a first speed and a first acceleration of the means of transportation by means of a computer program 80 to determine. At the second step 200 In the method according to the invention, second movement information from another road user is used 90 received, which is a pedestrian here, the second movement information based on a mobile phone 40 of the other road user 90 be determined. The second movement information is stored on the mobile phone 40 installed app determines and include information about a second position, a second speed and a second acceleration of the other road user 90 . In the third step 300 is by means of the evaluation unit 10th a risk of collision of the means of transportation 80 with the other road user 90 determined by comparing the first movement information with the second movement information. The evaluation unit calculates for this 10th from the first and second movement information, first estimates for a future first trajectory 82 of the means of transportation 80 and a future second trajectory 92 of the other road user 90 . Because the calculated estimates here are an intersection of the two trajectories 82 , 92 result, the evaluation unit determines 10th on the basis of the first and second speeds and on the basis of the first and second accelerations in each case probable times for the means of transportation 80 and the other road user 90 , to each of which the intersection of the two trajectories 82 , 92 to reach. Since a time interval between the respective probable points in time is below a predefined threshold value of 5 seconds, the evaluation unit evaluates 10th a collision risk in this case initially with a probability of 65%. The evaluation unit then reads 10th from one to the evaluation unit 10th storage unit connected by information technology 20th Map data from what information about a current environment of the two road users 80 , 90 include. The evaluation unit is based on the card data 10th able to get one through the means of transportation 80 used traffic route and one by the other road user 90 to determine the traffic route used. The evaluation unit determines in this way 10th that the means of transportation 80 on a street 84 moves while the second road user 90 on a pedestrian path that moves the street 84 at the intersection of the two estimated trajectories 82 , 92 crosses. Thereupon the collision risk by the evaluation unit 10th re-evaluated and gives a correspondingly higher value of 70% due to the actually intersecting traffic routes. Because the evaluation unit 10th additionally determined on the basis of further information contained in the map data that an intersection of the two traffic routes (at the intersection of the two trajectories 82 , 92 ), due to a side development only in the immediate vicinity of the crossing point, an insight into the other traffic route is possible, the collision risk is re-evaluated and now results in a correspondingly higher value of 90%. Because the value for that Collision risk in the amount of 90% exceeds a predefined threshold value for a collision risk (eg 80%), gives the evaluation unit 10th in step 400 a signal in the means of transportation 80 which indicates the high risk of collision of the means of transportation 80 with the other road user 90 points out. The signal is in the form of a warning sound by means of an audio system of the means of transportation 80 in the means of transportation 80 spent.

2nd shows a schematic overview of components of a device according to the invention in connection with a means of transportation 80 . the device comprises an evaluation unit 10th , which is a microcontroller here, with a data input 12 and a data output 14 . The evaluation unit 10th is information technology with a storage unit 20th connected, in which by the evaluation unit 10th received data and by the evaluation unit 10th calculated data can be stored. By means of data input 12 is the evaluation unit 10th via a vehicle electrical system 80 information technology with a GPS sensor 30th , a front camera 35 and a cellular unit 50 of the means of transportation 80 connected. Using the GPS sensor 30th determines the evaluation unit 10th first movement information and a first trajectory based thereon 82 of the means of transportation 80 . By means of the mobile radio unit 50 is the evaluation unit 10th able to get a first cellular connection 55 to an external server 70 build up. The server 70 is over a second cellular connection 95 with a mobile phone 40 of another road user 90 connected who is a pedestrian here. Via the second cellular connection 95 transmits the mobile phone 40 of the other road user 90 second movement information of the other road user 90 . The second movement information is described via the first mobile radio connection 55 to the cellular unit 50 of the means of transportation 80 transferred and from there to the data input 12 the evaluation unit 10th forwarded. The evaluation unit calculates on the basis of the received second movement information 10th a second trajectory 92 of the other road user 90 . Based on that in the evaluation unit 10th The information available is the evaluation unit 10th able to find a potential collision location and a collision probability for the means of transportation 80 and the other road user 90 to estimate. By evaluating a signal from the front camera 35 is the evaluation unit 10th also set up to plausibility check the potential collision location and the corresponding collision probability. In the event of a collision risk between the two road users 80 , 90 the evaluation unit outputs above a predefined threshold value 10th via the data output 14 a signal representing a high risk of collision. The signal is sent to the data output 14 Information technology-connected loudspeaker 65 of the means of transportation 80 controlled, which emits a warning tone in response. There is also a driver assistance system 60 of the means of transportation 80 with the data output 14 Information technology connected and thus also able to receive the signal. Because the driver assistance system 60 A pre-crash system is capable of outputting the warning sound through the speaker 65 additional safety precautions in the means of transportation 80 using the driver assistance system 60 be hit (tighten the belt, pretension the brake, etc.).

3rd shows an example of a traffic situation with a collision risk. A means of transportation 80 moves along a first trajectory 82 on a street 84 . Another road user 90 who is a cyclist here is moving along a second trajectory 92 on a bike path 86 , which first comes from a lateral direction onto the street 84 approaches, then after a bend but parallel to the road 84 continues without crossing them. The means of transportation 80 comprises a device according to the invention as described above, while the other road user 90 a smartphone (not shown) 40 with it. Both the device according to the invention and the smartphone 40 are set up to carry out the inventive method described above. In this way, an evaluation unit 10th an inventive device of the means of transportation 80 both the first trajectory 82 , as well as the second trajectory 92 determine. The second trajectory 92 is taking into account a type of means of transportation of the other road user 90 (Bicycle) and one by the other road user 90 used traffic route (bike path 86 ) determined. In this case, based on this information, the evaluation unit 10th a very low risk of collision for both road users 80 , 90 determined why in the form of transportation 80 no warning for a potential collision is issued.

Reference symbol list

10th

Evaluation unit

12

Data input

14

Data output

20th

Storage unit

30th

GPS sensor

35

Front camera

40

Mobile phone

50

Cellular unit

55

first cellular connection

60

Driver assistance system

65

speaker

70

server

80

Means of transportation

82

first trajectory

84

road

86

Bicycle path

90

other road users

92

second trajectory

95

second cellular connection

100-400

Procedural steps

Claims (10)

Method for determining a collision risk of a means of transportation (80) comprising the steps: Determining (100) first movement information of the means of transportation (80) by means of a sensor system (30) of the means of transportation (80), Receiving (200) second movement information from a further traffic participant (90), the second movement information being determined on the basis of a mobile terminal (40) of the further traffic participant (90), • Assessment (300) of a collision risk of the means of transportation (80) with the other road user (90) by comparing the first movement information with the second movement information, and • Output (400) of a signal in the means of transportation (80) representing a risk of collision of the means of transportation (80) with the other road user (90). Procedure according to Claim 1 , wherein the first movement information and / or second movement information include information about • a first position and / or a first trajectory (82) and / or a first speed and / or a first acceleration of the first means of transportation (80), and / or • a second Position and / or a second trajectory (92) and / or a second speed and / or a second acceleration of the other road user (90). Method according to one of the preceding claims, wherein when assessing the risk of collision of the means of transportation (80) with the other road user (90) • a type of transportation of the other road user (90), and / or • a type of traffic route used by the means of transportation (80) and / or the other road user (90), and / or • card information, and / or • Typical second movement information of other road users (90) determined by means of crowd sourcing, and / or • Objects restricting the view in the environment of the means of transport (80) are taken into account. Method according to one of the preceding claims, wherein the second movement information is received directly by the other road user (90) and / or indirectly via an external server (70). Method according to one of the preceding claims, wherein the signal in dependence • a predefined threshold for a collision risk, and / or • a line of sight of a driver of the means of transportation (80) is output. Method according to one of the preceding claims, wherein the signal For outputting an optical and / or haptic and / or acoustic notification message, and / or • from a driver assistance system (60) of the means of transportation (80), and / or • from a system for fully automated driving of the means of transportation (80), and / or • is used to transmit a message to the other road user (90). Method according to one of the predefined claims, wherein the mobile terminal (40) of the other road user (90) is a portable mobile terminal, in particular a tablet computer and preferably a mobile phone. Method according to one of the predefined claims, wherein the second movement information is checked for plausibility on the basis of an environment sensor system (35) of the means of transport (80). Device for determining a collision risk of a means of transportation (80) comprising: • an evaluation unit (10), • a data input (12), and • a data output (14), the evaluation unit (10) being set up, • in connection with the data input ( 12) o to determine first movement information of the means of transport (80) by means of a sensor system (30) of the means of transport (80), and o to receive second movement information from another road user (90), • a risk of collision of the means of transportation (80) with the other road user ( 90) by To compare the first movement information with the second movement information, and • in connection with the data output (14) to represent a signal representing a collision risk of the means of transportation (80) with the other road user (90) in the means of transportation (80). Means of transportation (80) comprising a device according to Claim 9 .

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