DE102019118310A1 - Method and control unit for protecting a vehicle from a rear-end collision - Google Patents

Abstract

A control unit for an ego vehicle is described, the ego vehicle comprising one or more environment sensors which are set up to record environment data in relation to an environment of the ego vehicle. The control unit is set up to determine on the basis of the surroundings data that another vehicle could collide with the ego vehicle. Furthermore, the control unit is set up, in response to this, to cause a driver of the other vehicle to be warned.

Description

The invention relates to a method and a corresponding control unit which are designed to avoid a rear-end collision.

A vehicle can include environment sensors, such as, for example, a camera, a radar sensor, a lidar sensor, which are set up to record environment data (i.e. sensor data) in relation to an environment of the vehicle. The surroundings data can be used by a control unit of the vehicle in order to provide one or more driver assistance functions (such as, for example, a distance and / or speed controller, a lane departure warning and / or an emergency stop assistant). In this way, the comfort and safety of a vehicle can be increased.

However, there are still numerous vehicles in road traffic that have no or only a relatively limited detection of their surroundings. Such vehicles can represent a relatively high risk of collision for other vehicles (also for vehicles that have a relatively comprehensive detection of their surroundings).

The present document deals with the technical task of increasing the safety of an ego vehicle with regard to a possible collision with a vehicle that may only have a relatively limited detection of its surroundings.

The problem is solved by each of the independent claims. Advantageous embodiments are described in the dependent claims, among others. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to the technical teachings described in the description, which can form an invention that is independent of the features of the independent patent claims.

According to one aspect, a control unit for an ego vehicle (in particular for a motor vehicle) is described. The ego vehicle includes one or more environment sensors which are set up to record environment data in relation to the environment of the ego vehicle. Exemplary environment sensors are: a radar sensor, a camera, a lidar sensor, an ultrasonic sensor, etc. The one or more environment sensors can be set up, environment data in relation to the environment in front of the front, behind the rear, on the right side and / or on the capture the left side of the ego vehicle.

The control unit can be set up to determine on the basis of the surroundings data that another vehicle (in particular another motor vehicle) could collide with the ego vehicle. For example, it can be recognized that another vehicle is moving towards the ego vehicle. The control unit can use a machine-learned model (e.g. a neural network) in order to predict an impending rear-end collision based on the environment data. An impending rear-end collision, which could be caused by the other vehicle, can thus be detected. For example, it can be detected that the other vehicle could collide with the front from the front, the rear and / or the side of the (possibly stationary) ego vehicle.

Furthermore, the control unit can be set up, in response to this, to cause a driver of the other vehicle to be warned. In particular, a warning can be output to the driver of the other vehicle, the warning being designed to inform the driver of the other vehicle of the impending rear-end collision. As a result, the probability can be increased that the rear-end collision will be avoided by driving intervention by the driver of the other vehicle. Reliable protection of the ego vehicle can thus be achieved (even if the other vehicle has no or only insufficient environmental sensors).

The control unit can be set up to operate an optical and / or an acoustic signal transmitter (e.g. a lamp and / or a horn) of the ego vehicle in order to warn the driver of the other vehicle of the impending collision. As an alternative or in addition, the control unit can be set up to send a communication message regarding the impending collision to the other vehicle via a wireless communication network (e.g. by means of vehicle-to-vehicle communication). In this way, the driver of the other vehicle can be reliably warned of the impending rear-end collision.

The control unit can be set up to determine in which area of the ego vehicle there is a risk of a rear-end collision (at the front, at the rear or on one side). The warning to the driver of the other vehicle can then be brought about as a function of the area in which the rear-end collision threatens. In the event of an impending rear-end collision at the front, a signal transmitter can be on the front, and in the event of an impending rear-end collision, on one side a signal transmitter on one side, and / or in the event of an impending rear-end collision, a signal transmitter on the rear of the ego vehicle can be activated. In this way, the driver of the other vehicle can be reliably warned of the impending rear-end collision and / or made aware of the impending rear-end collision.

In a preferred example, the one or more environment sensors are set up to record environment data in relation to the environment in front of the front of the ego vehicle. The control unit can be set up to determine on the basis of the surroundings data that the other vehicle could hit the front of the ego vehicle, in particular by reversing. A rear-end collision caused by another vehicle at the front of the ego vehicle can thus be avoided in a reliable manner.

The control unit can be set up to recognize on the basis of the surroundings data that the other vehicle has engaged a reverse gear (e.g. due to a rear light of the other vehicle). It can then be determined based thereon that the other vehicle could crash into the front of the ego vehicle by backing up. By recognizing the engaged reverse gear, an impending rear-end collision can be recognized particularly early. The protection of the ego vehicle can thus be further increased.

The control unit can be set up (when an impending rear-end collision is detected at the front of the ego vehicle) to activate a light on the front of the vehicle in order to generate a warning to the driver of the other vehicle. In this way, the driver of the other vehicle (which is backing up) can be warned in a reliable manner.

Alternatively or in addition, the one or more environment sensors can be set up to record environment data in relation to the environment on one side, in particular on a passenger and / or on a driver side, of the ego vehicle. The control unit can then be set up to determine on the basis of the surroundings data that the other vehicle could drive onto the side of the ego vehicle, in particular by reversing. A rear-end collision caused by another vehicle on one side of the ego vehicle can thus be reliably avoided.

As an alternative or in addition, the one or more environment sensors can be set up to record environment data in relation to the environment at the rear of the ego vehicle. The control unit can then be set up to determine on the basis of the surroundings data that the other vehicle could hit the rear of the ego vehicle. A rear-end collision caused by another vehicle at the rear of the ego vehicle can thus be avoided in a reliable manner.

The control unit can be set up to recognize the impending collision of the other vehicle and to warn the other driver of the other vehicle, even if the ego vehicle is stationary, parked or parked. The ego vehicle can thus be protected, even if the ego vehicle may not actively participate in the traffic situation. If necessary, protection can also be provided when there is no occupant in the vehicle (such as when the ego vehicle is parked in a parking lot).

The control unit can be set up to store data, in particular at least some of the surroundings data, relating to the impending collision of the other vehicle (e.g. a video, data relating to the position of the ego vehicle, etc.) and / or a vehicle -external unit to provide. In this way, the settlement of accidental damage can be simplified.

In response to the fact that it has been determined that the other vehicle could collide with the ego vehicle, the control unit can be configured to automatically effect an evasive maneuver of the ego vehicle in order to avoid the impending rear-end collision. In this way, the safety of the ego vehicle can be further increased.

As an alternative or in addition, the control unit can be set up, in response to the fact that it has been determined that the other vehicle could collide with the ego vehicle, to initiate one or more protective measures to prevent the impending rear-end collision from affecting the ego vehicle and / or to be reduced to an occupant of the ego vehicle. Exemplary protective measures are bringing about a tightening of the material and / or activating and / or conditioning an airbag. In this way, the safety of the ego vehicle can be further increased.

According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the control unit described in this document.

According to a further aspect, a (computer-implemented) method for protecting an ego vehicle from a rear-end collision is described. The ego vehicle includes one or more environment sensors which are set up to record environment data in relation to an environment of the ego vehicle. The method includes determining, based on the environment data, that another vehicle is could hit the ego vehicle. The method further includes, in response thereto, effecting a warning to a driver of the other vehicle.

According to a further aspect, a software (SW) program is described. The software program can be set up to be executed on a processor (e.g. on a control unit of a vehicle) and thereby to execute the method described in this document.

According to a further aspect, a storage medium is described. The storage medium can comprise a software program which is set up to be executed on a processor and thereby to execute the method described in this document.

It should be noted that the methods, devices and systems described in this document can be used both alone and in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices and systems described in this document can be combined with one another in diverse ways. In particular, the features of the claims can be combined with one another in diverse ways.

• Figuren la undlb beispielhafte Verkehrssituationen an einer Straßenkreuzung;
• 1c beispielhafte Komponenten eines Fahrzeugs; und
• 2 ein Ablaufdiagramm eines beispielhaften Verfahrens zur Vermeidung eines Auffahrunfalls.

The invention is described in more detail below on the basis of exemplary embodiments. Show it

• Figures la and lb exemplary traffic situations at a street intersection;
• 1c exemplary components of a vehicle; and
• 2 a flowchart of an exemplary method for avoiding a rear-end collision.

As stated at the outset, the present document is concerned with avoiding a collision between different vehicles in a reliable manner (even if one of the two vehicles has a relatively limited detection of the surroundings). Show in this context 1a and 1b exemplary traffic situations at an intersection 101 .

1a shows a situation in which a front vehicle 120 on the intersection 101 and the ego vehicle 110 on the roadway 100 at the crossroads 101 stand. The driver of the vehicle in front 120 realizes he's the intersection 101 cannot cross (e.g. because the relevant traffic light for the vehicle in front 120 has changed to red). As a result, the driver of the vehicle in front decides 120 to do this, in reverse from the intersection 101 back to the roadway 100 to drive (represented by the arrow). Because the ego vehicle 110 on the roadway 100 it could be done by reversing the vehicle in front 120 to a front-end collision on the ego vehicle 110 come (the one from the front vehicle 120 caused).

1b shows a situation in which the ego vehicle 110 on an intersection 101 stands. The driver of the following vehicle 120 also want to go to the intersection 101 drive and see the ego vehicle if necessary 110 not (e.g. because the ego vehicle 110 at least partially from the A-pillar of the following vehicle 120 is covered). This can lead to a rear-end collision with the following vehicle 120 on the ego vehicle 110 come.

In the 1a and 1b situations are described in which the ego vehicle 110 and there is still a collision with another vehicle 120 comes (which does not have adequate driver assistance systems to the driver of the vehicle 120 to warn of the collision).

1c shows exemplary components of the ego vehicle 110 . The ego vehicle 110 includes one or more environment sensors 112 which are set up, environment data (ie sensor data) relating to the environment of the ego vehicle 110 capture. Exemplary environment sensors 112 are an image camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc. The one or more environment sensors 112 Environment data can be set up in relation to the front area in front of the ego vehicle 110 and / or in relation to the rear area behind the ego vehicle 110 and / or in relation to a side area next to the ego vehicle 110 capture.

A control unit 111 of the ego vehicle 110 can be set up to detect that there is another vehicle on the basis of the surroundings data 120 on a collision course with the ego vehicle 110 is located. In particular, it can be detected that another vehicle 120 there is on the front of the ego vehicle 110 or on the rear of the ego vehicle 110 or to one side of the ego vehicle 110 to drive up (even if the ego vehicle 110 stands still).

• • ein optisches oder akustisches Signal an das andere Fahrzeug 120 zu senden (z.B. mittels eines Scheinwerfers und/oder mittels einer Rückleuchte und/oder mittels einer Hupe); und/oder
• • eine Car-to-Car Kommunikationsnachricht an das andere Fahrzeug 120 zu senden.

In response, the control unit 111 of the ego vehicle 110 one or more signaling units or signal transmitters 113 of the ego vehicle 110 cause the driver of the other vehicle 120 and / or the other vehicle 120 to warn of the impending collision. The one or more signaling units 113 can be set up

• • an optical or acoustic signal to the other vehicle 120 to send (for example by means of a headlight and / or by means of a tail light and / or by means of a horn); and or
• • a car-to-car communication message to the other vehicle 120 to send.

Furthermore, the control unit 111 be set up one or more actuators 114 of the ego vehicle 110 operate to the driver of the ego vehicle 110 to warn of the impending collision and / or the safety of the driver of the ego vehicle 110 to increase. For example, an optical, haptic and / or acoustic warning signal can be produced. Alternatively or in addition, the security item can be the one or more occupants of the ego vehicle 110 be tightened to reduce the risk of injury.

The control unit 111 can be set up (e.g. in the in 1a situation shown), based on the environment data from one or more environment sensors 112 (which are set up an area in front of the front of the ego vehicle 110 to detect) to detect that a front vehicle 120 in front of the ego vehicle 110 resets, and with the front of the ego vehicle 110 could collide. In response to this, one or more measures can be brought about to prevent the collision and / or to mitigate a consequence of the collision. In particular, a front headlight and / or a horn of the ego vehicle 110 activated to the driver of the front vehicle 120 to warn. Alternatively or in addition, a protective measure for the driver of the ego vehicle can be used 110 be effected.

As an alternative or in addition, the control unit 111 be set up (e.g. in the in 1b situation shown), based on the environment data from one or more environment sensors 112 (which are set up an area behind the rear of the ego vehicle 110 to detect) to detect that a following vehicle 120 behind the ego vehicle 110 drives, and with the rear of the ego vehicle 110 could collide. In response to this, one or more measures can be brought about to prevent the collision and / or to mitigate a consequence of the collision. In particular, a rear light and / or a horn of the ego vehicle 110 activated to the driver of the following vehicle 120 to warn. Alternatively or in addition, a protective measure for the driver of the ego vehicle can be used 110 be effected.

It becomes an ego vehicle 110 described, which is designed, the environment sensors even in the standing state 112 of the ego vehicle 110 to use to another vehicle 120 to detect that on the ego vehicle 110 too moved. The other vehicle 120 can then with an existing signaling of the ego vehicle 110 be warned of a possible collision. If necessary, the ego vehicle can 110 (if possible) automatically avoid the collision and / or the ego vehicle 110 can prepare for the collision. Furthermore, the vehicle can 110 be designed to automatically have an image camera 112 (and / or one or more additional environmental sensors 112 ) to record a video related to the driving situation and the possible collision.

A situation is described in which an ego vehicle 110 e.g. behind or in front of another vehicle 120 at an intersection 101 , at a traffic light and / or in a parking lot. The other vehicle 120 moves unexpectedly from the front or from the rear of the ego vehicle 110 to. The ego vehicle 110 includes one or more environment sensors 112 who have favourited the ego vehicle 110 allow the distance and / or movement of the other vehicle 120 to be recorded (e.g. using PDC (Park Distance Control), radar, camera in front and / or rear direction). Alternatively or in addition, it can be recognized on the basis of the surroundings data that the other vehicle is 120 engages reverse gear (e.g. by recognizing the corresponding rear light on the other vehicle 120 ).

The ego vehicle 110 can be designed based on the environment data (for example, using a machine learning model, a rear-end collision with the other vehicle 120 to predict. In response, the ego vehicle can 110 the driver of the other vehicle 120 warn (e.g. by activating one or more lights, e.g. flasher, brake lights etc., and / or by generating one or more tones, e.g. horn, theft warning signal, etc.). Alternatively or in addition, the ego vehicle can 110 be trained the driver of the ego vehicle 110 to warn. Alternatively or in addition, the ego vehicle can 110 be designed to automatically perform an evasive action (if possible) (for example if the driver of the other vehicle occurs 120 not reacted). Alternatively or in addition, the ego vehicle can 110 be designed (for example if an evasive maneuver is not possible) the ego vehicle 110 Prepare for the collision, for example by tightening the seat belt, airbags etc. Alternatively or in addition, the ego vehicle can 110 be designed to document the process, e.g. by video e.g. by front camera, rear camera etc. and / or with further sensors e.g. GPS, engine speed, gear position etc.

2 shows a flow diagram of an exemplary method 200 to protect an ego vehicle 110 before a rear-end collision caused by another vehicle 120 (in particular a front vehicle or a following vehicle) could be caused. The procedure 200 can through a control unit 111 of the ego vehicle 110 are executed. The ego vehicle 110 includes one or more environment sensors 112 which are set up, environment data relating to the environment of the ego vehicle 110 (especially in front of or behind or to the side of the ego vehicle 110 ) capture.

The procedure 200 includes determining 201 , based on the environmental data that another vehicle 120 on the ego vehicle 110 could open up. The method also includes 200 , in response, causing 202 a warning to the driver of the other vehicle 120 . The output of a warning can increase the probability that the driver of the other vehicle 120 notices and avoids the impending rear-end collision. Consequently, the ego vehicle can 110 be protected from an impending rear-end collision.

The present invention is not restricted to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are only intended to illustrate the principle of the proposed methods, devices and systems.

Claims (12)

Control unit (111) for an ego vehicle (110); wherein the ego vehicle (110) comprises one or more environment sensors (112) which are set up to record environment data in relation to an environment of the ego vehicle (110); wherein the control unit (111) is set up, - to determine on the basis of the environment data that another vehicle (120) could collide with the ego vehicle (110); and - in response to causing a driver of the other vehicle (120) to be warned. Control unit (111) according to Claim 1 wherein - the one or more environment sensors (112) are set up to record environment data in relation to the environment in front of a front of the ego vehicle (110); and - the control unit (111) is set up to determine on the basis of the surroundings data that the other vehicle (120) could collide with the front of the ego vehicle (110), in particular by reversing. Control unit (111) according to Claim 2 , the control unit (111) being set up to recognize on the basis of the surroundings data that the other vehicle (120) has engaged a reverse gear; and - based on this, determine that the other vehicle (120) could collide with the front of the ego vehicle (110) by backing up. Control unit (111) according to one of the Claims 2 to 3 , wherein the control unit (111) is set up to activate a light on the front of the vehicle (110) in order to generate a warning to the driver of the other vehicle (120). Control unit (111) according to one of the preceding claims, wherein - the one or more environment sensors (112) are set up to record environment data in relation to the environment on one side, in particular on a passenger side and / or on a driver side, of the ego vehicle (110); and - The control unit (111) is set up to determine on the basis of the surroundings data that the other vehicle (120) could drive onto the side of the ego vehicle (110), in particular by reversing. Control unit (111) according to one of the preceding claims, wherein - the one or more environment sensors (112) are set up to record environment data in relation to the environment at a rear of the ego vehicle (110); and - The control unit (111) is set up to determine on the basis of the surroundings data that the other vehicle (120) could collide with the rear of the ego vehicle (110). Control unit (111) according to one of the preceding claims, wherein the control unit (111) is set up to recognize the impending collision of the other vehicle (120) and to warn the other driver of the other vehicle (120), even if the ego -Vehicle (110) is stationary, parked or parked. Control unit (111) according to one of the preceding claims, wherein the control unit (111) is set up to store data, in particular at least part of the environment data, with regard to the impending collision of the other vehicle (120) and / or a vehicle-external unit to provide. Control unit (111) according to one of the preceding claims, wherein the control unit (111) is set up - to operate an optical and / or an acoustic signal transmitter (113) of the ego vehicle (110) in order to warn the driver of the other vehicle (120) of the impending collision; and or - Send a communication message relating to the impending collision to the other vehicle (120) via a wireless communication network. Control unit (111) according to one of the preceding claims, wherein the control unit (111) is set up in response to the fact that it has been determined that the other vehicle (120) on the ego Vehicle (110) could collide, automatically causing an evasive maneuver of the ego vehicle (110) in order to avoid the impending rear-end collision. Control unit (111) according to one of the preceding claims, wherein - The control unit (111) is set up, in response to the fact that it has been determined that the other vehicle (120) could collide with the ego vehicle (110), to initiate one or more protective measures in order to have an effect of the impending rear-end collision on the Ego vehicle (110) and / or to an occupant of the ego vehicle (110); and - which include one or more protective measures in particular: - effecting a tightening of the material; and or - the activation and / or conditioning of an airbag. Method (200) for protecting an ego vehicle (110) from a rear-end collision; wherein the ego vehicle (110) comprises one or more environment sensors (112) which are set up to record environment data in relation to an environment of the ego vehicle (110); wherein the method (200) comprises, - Determination (201), based on the environment data, that another vehicle (120) could drive into the ego vehicle (110); and - in response to this, causing (202) a warning to a driver of the other vehicle (120).

Images