DE102019126441A1 - Method for an emergency control for a vehicle - Google Patents

Abstract

The present invention relates to a method for an emergency control for a vehicle to avoid a collision of a host vehicle with a target vehicle, the host vehicle having a driving support system integrated therein for carrying out at least one step of the method, which has the steps of: acquiring environmental information an environment of the host vehicle (100); Determining, based on the acquired environmental information, whether a collision is likely to occur (200); in the event that it is determined that the collision is likely to occur, determining a first collision mitigation action for the host vehicle and determining a second collision mitigation action for the target vehicle based on the detected environmental information and based on information shared between the host vehicle and the target vehicle (300) is communicated; and the host vehicle (400) performing the first collision mitigation action.

Description

The present invention relates to a method for an emergency control for a vehicle in order to avoid a collision of a host vehicle with a target vehicle, the host vehicle having a driving support system integrated therein for carrying out at least one step of the method.

The present invention also relates to a driving assistance system which has a device for carrying out the steps of the method.

The present invention also relates to a vehicle with the driving assistance system.

The present invention also relates to a computer program with instructions which, when executed by a computer, cause the computer to carry out the steps of the method.

The present invention also relates to a data carrier signal which the computer program transmits.

The present invention also relates to a computer-readable medium having instructions which, when executed by a computer, cause the computer to carry out the steps of the method.

Conventional emergency control systems, such as braking systems, are able to avoid or mitigate situations that are caused by a distracted or inattentive driver and that can lead to an imminent collision with a vehicle. Bad visibility can also lead to such situations. Such systems can also steer the vehicle away to avoid a collision. Performing an evasive maneuver is known as autonomous emergency steering, which is a last resort function when braking is deemed insufficient to prevent a collision. Conventional systems mainly use an environmental sensor mounted on the host vehicle to detect and track objects that can lead to a critical situation.

An exemplary situation for a control action of an emergency control system is a probable head-on collision. In such a situation, an emergency system, for example a driver assistance system, must decide either to brake or possibly to steer safely away. Since such emergency situations require a rapid system response, such as braking or steering in this case, it is inevitable that the emergency systems carry out such emergency maneuvers precisely. However, emergency systems must be intelligent enough to determine what to do in such a situation.

When the system needs to determine the method of collision mitigation, it is critical to determine that the vehicle is being braked or steered in the correct direction. However, emergency collision mitigation systems inevitably have to make decisions as driver assistance systems are becoming more and more autonomous. For an appropriate collision mitigation action, a period of indecision or the reaction time of the drivers present in the vehicles can also be taken into account.

The DE 10 2008 036 131 A1 relates to a method for determining a traffic situation around a vehicle. The DE 10 2014 016 625 A1 and the DE 10 2016 203 746 A1 relate to a method using vehicle communication to determine whether there is a wrong-way driver traveling in the wrong direction on a freeway. The US 2015/127190 A1 relates to a method for performing an evasive maneuver for oncoming vehicles. In particular, this document relates to a method for preventing a collision of a motor vehicle with a wrongly driving vehicle, which includes a wrong-way driver warning received by the motor vehicle, the traffic situation in front of and next to the motor vehicle being detected by a sensor system and a check based on the detected traffic situation as to an evasive maneuver of the motor vehicle can be initiated and an automatic evasive maneuver is initiated as a result of the assessment. A control and detection device for avoiding a collision with a wrongly driving vehicle has an arrangement for receiving a wrong-way driver warning, an arrangement for detecting the traffic situation in front of and next to the motor vehicle, an arrangement which is configured to check based on the detected traffic situation, whether an evasive maneuver can be initiated, and an arrangement for initiating an automatic evasive maneuver based on the test.

The conventional methods do not take sufficient account of the complexity of a traffic situation.

The present invention is based on the object of specifying an improved method for avoiding a collision between two vehicles, an improved driving assistance system, an improved vehicle, an improved computer program, an improved data carrier signal and an improved computer-readable medium. In particular, the complexity of a traffic situation should be better taken into account.

This problem is solved by the independent claims. Advantageous refinements are given in the subclaims.

In particular, the present invention specifies a method for an emergency control for a vehicle in order to avoid a collision of a host vehicle with a target vehicle, wherein the host vehicle is equipped with a driving support system integrated therein that executes at least one step of the method, comprising the steps of: acquiring environmental information about surroundings of the host vehicle; Determining whether a collision is likely to occur based on the acquired environmental information; in the event that it is determined that the collision is likely to occur, determining a first collision mitigation action for the host vehicle and determining a second collision mitigation action for the target vehicle based on the detected environmental information and based on information shared between the host vehicle and the target vehicle is communicated; and performing the first collision mitigation action by the host vehicle.

The last step of the method according to the invention is preferably carried out in the vehicle.

The present invention also specifies a driving assistance system which has a device for carrying out the steps of the method. The driving support system can have a driving support system for supporting autonomous or partially autonomous driving of respective autonomous or partially autonomous vehicles or a driver assistance system for supporting a driver of the vehicle in different driving situations.

The present invention also specifies a vehicle with the driving assistance system. The vehicle is preferably a driver's ego vehicle.

The present invention also provides a computer program which contains instructions which, when executed by a computer, cause the computer to carry out the steps of the method. A computer program is a collection of instructions for performing a specific task, designed to solve a specific class of problems. A program's instructions are designed to be carried out by a computer, and it is necessary for a computer to be able to execute programs in order for it to function.

The present invention also specifies a data carrier signal which the computer program transmits.

The present invention also provides a computer readable medium containing instructions which, when executed by a computer, cause the computer to carry out the steps of the method.

The basic idea of the invention is to use communication between the host vehicle and a target vehicle and not with an external device. In addition, the invention relates to the use of emergency steering avoidance systems both in the host vehicle and in the target vehicle, which communicate with one another. The invention also relates to a methodology without vehicle communication.

The invention enables the decision-making ability of emergency driver assistance systems, i.e. collision mitigation systems, to be improved. It also improves the safety and reliability of collision mitigation systems.

The host vehicle is the vehicle in which the method according to the invention is carried out.

According to a modified embodiment of the invention, it is provided that in the event that it is determined that the collision is likely to occur, the method comprises determining the first collision mitigation action by the host vehicle and determining the second collision mitigation action by the target vehicle. If both vehicles have collision avoidance systems, a split calculation of the collision avoidance maneuvers can reduce the communication between the two vehicles, which is advantageous, for example, for available communication links with slower transmission rates.

According to a modified embodiment of the invention, it is provided that in the event that it is determined that the collision is likely to occur, the method comprises determining the first collision mitigation action and the second collision mitigation action by the host vehicle. This can be advantageous if one of the vehicles is controlled manually.

According to a modified embodiment of the invention, it is provided that in the event that it is determined that the collision is likely to occur, the method comprises determining the first collision mitigation action and the second collision mitigation action by the host vehicle and the target vehicle. This makes it possible to bundle the computing power especially for the evaluation of complex driving situations.

According to a modified embodiment of the invention, it is provided that the information transmitted between the host vehicle and the target vehicle has at least one of the following elements: a collision mitigation trajectory parameter, a vehicle speed, a vehicle mass, environmental information, the first collision mitigation action or the second collision mitigation action. In other words, the communication between the vehicles can relate to parameters for calculating the trajectories for both vehicles. In such a case, the communication between the vehicles can be carried out simultaneously with and / or before the determination of the first and second collision mitigation actions. Alternatively or additionally, the vehicles can exchange their determination results, that is to say the collision reduction actions, or the vehicle that has determined its collision reduction action can communicate the collision reduction action to the other vehicle in the event of a faster determination. The collision mitigation trajectory parameter can be any parameter indicative of the characteristics of the collision mitigation trajectory.

According to a modified embodiment of the invention, it is provided that the first collision mitigation action and / or the second collision mitigation action has a braking and / or steering process such that the host vehicle and / or the target vehicle are maneuvered along a specific collision mitigation trajectory. It can be determined that the collision mitigation actions are congruent with each other. For example, the collision mitigation actions can have trajectories for the vehicles that point in different directions.

According to a modified embodiment of the invention, it is provided that the host vehicle carries out the first collision mitigation measure within a period of time from a determination of the collision to the start of the collision mitigation action, which is shorter than a decision threshold value. For example, there arises a situation in which the ego vehicle is moving towards a parked vehicle at a speed of 20 m / s (72 km / h), the parked vehicle being parked at a distance of 50 m from the ego vehicle, see above that the processor of the ego vehicle determines that the time interval for the collision with the parked vehicle is 2.5 s, which is the point in time of the determination of the collision. It is determined that the ego vehicle needs to take collision mitigation action in order to avoid collision with the parked vehicle. There is a certain point in time when the collision mitigation action must be started in order to ensure that the collision can be effectively mitigated, which is the point in time when the collision mitigation action is started. If this point in time is not observed, this will lead to a collision. The total time available to carry out a collision mitigation action is the difference between the time the collision was determined and the time the collision mitigation action was started. For example, it could be assumed that drivers have a reaction time of 1.5 seconds. The host vehicle's system should then respond in less than 1.5 seconds.

According to a modified embodiment of the invention, it is provided that in the event that the first collision mitigation action and the second collision mitigation action, in particular the collision mitigation trajectories, are such that the collision is still likely, and a calculated time to collision, TTC, below one Decision threshold value is, the method includes the execution of an evasive steering maneuver by the host vehicle in such a way that a collision with the target vehicle is avoided based on a detected direction of movement of the target vehicle and not based on the determined second collision mitigation action of the target vehicle. Such an embodiment can include that, in addition to the driver's reaction time, further parameters are taken into account. As a result, a more complex traffic situation can be assessed in order to determine a collision mitigation action.

The time to collision (TTC) is a parameter for evaluating a risk of collision. TTC is the ratio of the current distance to the approach speed. If both vehicles keep moving at the same constant speed, they will move when the TTC is measured and the collision will occur after a time TTC.

According to a modified embodiment of the invention, it is provided that the execution of the first and / or the second collision mitigation action, the display of properties of the collision mitigation action, in particular a direction of movement, for a driver of the other vehicle and / or the output of warning signals to the driver of the vehicle that performs the collision mitigation action. Therefore, the driver and occupants of both vehicles can be warned of an impending accident.

These and other aspects of the invention will be apparent and illustrated in the embodiments described below. Individual features that are shown in the embodiments can form an aspect of the present invention on their own or in combination. Features of the various embodiments can be transferred from one embodiment to another embodiment.

• 1 ein Ablaufdiagramm eines erfindungsgemäßen Verfahrens;
• 2 ein erstes Szenario, in dem eine Ausführungsform des Verfahrens angewendet werden kann;
• 3 ein zweites Szenario, in dem eine Ausführungsform des Verfahrens angewendet werden kann;
• 4 ein drittes Szenario, in dem eine Ausführungsform des Verfahrens angewendet werden kann; und
• 5 ein viertes Szenario, in dem eine Ausführungsform des Verfahrens angewendet werden kann.

Show it:

• 1 a flow chart of a method according to the invention;
• 2 a first scenario in which an embodiment of the method can be applied;
• 3 a second scenario in which an embodiment of the method can be applied;
• 4th a third scenario in which an embodiment of the method can be applied; and
• 5 a fourth scenario in which an embodiment of the method can be applied.

1 shows a flow chart of a method according to the invention. The method is for an emergency control for a vehicle 1 , 2 capable of a collision of a host vehicle 1 with a target vehicle 2 to avoid.

2 shows a first possible scenario. The scenario shows the host vehicle schematically 1 and the target vehicle 2 that are on the same lane 3b of a street 3 with two lanes 3a, 3b, which are marked by lane markings 4th are separated from each other, moving towards each other.

According to the embodiment, the method is carried out by a host driving support system integrated in the vehicle for carrying out the steps of the method. The method has the following steps: Acquiring environmental information around the host vehicle 1 around according to a step indicated by the reference numeral “100”; Determining, based on the acquired environmental information, whether the collision is likely to occur, according to a step denoted by the reference character “200”; in the event that it is determined that the collision is likely to occur, determining first collision mitigation action for the host vehicle 1 and determining a second collision mitigation action for the target vehicle 2 based on the captured environment information and based on information shared between the host vehicle 1 and the target vehicle 2 is transmitted, according to a step indicated by the reference numeral “300”; and performing the first collision mitigation action by the host vehicle 1 according to a step denoted by the reference number “400”. In addition, the method includes, if necessary, the target vehicle taking a second collision mitigation action 2 on, this step being denoted by the reference symbol “400a”.

According to an alternative embodiment, the method comprises, according to a step denoted by the reference symbol “300a”, the determination of the first collision mitigation action by the host vehicle 1 and determining the second collision mitigation action by the target vehicle 2 on.

According to an alternative embodiment, the method comprises, according to a step denoted by the reference symbol “300b”, the determination of the first collision mitigation action and the second collision mitigation action by the host vehicle 1 on.

According to an alternative embodiment, the method comprises, in accordance with a step denoted by the reference symbol “300c”, the determination of the first collision mitigation action and the second collision mitigation action by the host vehicle 1 and by the target vehicle 2 on.

The procedure is described in terms of various scenarios with reference to the 3 to 5 further described.

3 shows schematically a scenario. cars 5 park next to the target vehicle 2 . At first glance, there are the possibilities for collision mitigation actions for the host vehicle 1 more restricted than for the target vehicle 2 : The host vehicle 1 can be one of the two collision mitigation trajectories 9a , 9b run because in a goal 7b of goals 7a , 7b the collision mitigation trajectories 9a , 9b the cars 5 park. For the target vehicle 2 however, there are two collision mitigation trajectories 6a , 6b to the goals 8a , 8b to disposal.

According to a first case of 3 reference is made to a scenario in which both the host vehicle 1 as well as in an oncoming target vehicle 2 a vehicle-to-vehicle communication technology is incorporated. Such a technology is also referred to as communication between vehicles (intra-vehicle communication). In addition, both vehicles exhibit 1 , 2 Collision mitigation systems that are able to brake and perform lateral evasive maneuvers.

In this scenario, the applicability of the method for improving the decision-making ability of both the host vehicle is particularly important 1 as well as the target vehicle 2 by allowing communication between the two Vehicles advantageous. Referring to 3 be in an emergency in which the host vehicle 1 and the target vehicle 2 likely to collide, the collision mitigation systems of both vehicles 1 , 2 triggered.

In the event that a collision mitigation system is in one or both of the vehicles 1 , 2 the need for driving the vehicles is determined and the collision mitigation action is determined in the form of a collision mitigation trajectory, the information is via wireless communication facilities between the two vehicles 1 , 2 transfer.

The collision mitigation trajectory is intended by both systems by analyzing the environment and determining the least risky path or trajectory for steering the vehicle 1 , 2 to be determined.

Therefore, if the in 3 If the scenario shown is present, the systems in both vehicles communicate 1 , 2 and determine an evasive steering process in opposite directions. Alternatively, the system sets in the target vehicle 2 its braking process continues while the system is in the host vehicle 1 executes a steering process (or vice versa). In any case, the vehicle must 1 , 2 that carries out the evasive steering process automatically display the steering direction.

According to the scenario of 4th parks or moves a car 5 on the left side of the host vehicle 1 .

In the case of the in 4th The systems then determine which vehicle is shown in the scenarios shown 1 , 2 should brake and which should perform a steering process by communicating several parameters that include the complexity of a "safe path", ie, a collision mitigation action to avoid a collision, a vehicle speed, a vehicle mass, environmental information, and so on. In this case, the host vehicle is communicating 1 the possibility that a vehicle, in this case the car 5 is on the adjacent lane that it is considered to be for the target vehicle 1 considered uncertain, can perform an evasive maneuver. Instead, it is safer if the host vehicle is used 1 the evasive maneuver and the target vehicle 2 decelerates. As soon as the decision has been made, the systems carry out the appropriate emergency maneuver in order to safely reduce a collision.

While the evasive maneuver is being carried out, the host vehicle signals 1 automatically, for example using a blinker signal, the steering direction so that it is visible to all neighboring vehicles. In addition, both vehicles must 1 , 2 Inform their drivers appropriately about the impending danger and the imminent evasive action to be carried out, for example by means of acoustic and visual warnings.

According to another scenario, only the host vehicle points 1 a built-in collision mitigation system while the target vehicle is on 2 is controlled by a human driver. One such scenario is in 5 shown.

In this case it is proposed based on an estimate of the possible trajectory of the target vehicle 2 faster than the target vehicle 2 to react. In the event of an emergency situation involving the host vehicle equipped with the collision mitigation system 1 is involved, which is approaching the target vehicle controlled by the human driver, it is very likely that the human driver will react later than an automated system when dealing with an in 5 is faced with the situation depicted. In this situation, a vehicle is driving 10 further behind the host vehicle on that of the host vehicle 1 adjacent lane or parked in that of the host vehicle 1 adjacent lane.

In such situations, the collision mitigation system should evaluate the conditions: By predicting the trajectory of the target vehicle 2 it is determined whether the target vehicle 2 will slow down or steer away due to a (possible) reaction of the driver to the situation. This can be done on the host vehicle 1 arranged environmental sensors are evaluated. Alternatively, possible collision mitigation strategies, such as braking, steering, or braking and steering, can be determined based on the predicted target vehicle trajectory and the predicted host vehicle trajectory. Alternatively or additionally, if the (predicted) trajectories of the host vehicle 1 and the target vehicle 2 still indicate that a collision is likely, and a calculated time until the collision (TTC) falls below a so-called "decision threshold", the driver assistance system executes an evasive maneuver in order to avoid the target vehicle 2 to evade.

During the execution of such a maneuver, the driver assistance system should automatically, e.g. B. by a flasher signal to indicate the evasive direction so that the driver in the target vehicle 2 can react accordingly. Furthermore, the driver of the host vehicle should be 1 be warned of the impending collision and a system action.

Even in this case, if both vehicles are equipped with wireless technology, the driver of the target vehicle should 2 via the evasive action of the host vehicle 1 be informed. By reacting faster than a human driver, a driver assistance system can potentially avoid confusion and thus prevent accidents.

List of reference symbols

1

Host vehicle

2

Target vehicle

3

road

3a-3c

Lanes

4th

Lane marking

5

parked cars

6a, 6b

Target of the collision mitigation trajectory of the target vehicle

7a, 7b

Target of the host vehicle's collision mitigation trajectory

8a, 8b

Collision mitigation trajectory of the target vehicle

9a, 9b

Host vehicle collision mitigation trajectory

10

parked or moving car in an adjacent lane

100

Acquiring environmental information around the host vehicle

200

Determining whether the collision is likely to occur based on the acquired environmental information

300

Determining a first collision mitigation action for the host vehicle and determining a second collision mitigation action for the target vehicle based on the captured environment information and based on information communicated between the host vehicle and the target vehicle

300a

Determining the first collision mitigation action by the host vehicle and determining the second collision mitigation action by the target vehicle

300b

Determining the first collision mitigation action and the second collision mitigation action by the host vehicle

300c

Determining the first collision mitigation action and the second collision mitigation action by the host vehicle and the target vehicle

400

The host vehicle takes the first collision mitigation action

400a

Carrying out the second collision mitigation action by the target vehicle

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102008036131 A1 [0010]
• DE 102014016625 A1 [0010]
• DE 102016203746 A1 [0010]
• US 2015127190 A1 [0010]

Claims (14)

Method for an emergency control for a vehicle (1, 2) for avoiding a collision of a host vehicle (1) with a target vehicle (2), the host vehicle (1) having a driving support system integrated therein for carrying out at least one step of the method which has the following steps: Acquiring environmental information around the host vehicle (1) (100); Determining whether a collision is likely to occur (200) based on the captured environmental information; in the event that it is determined that the collision is likely to occur, determining a first collision mitigation action for the host vehicle (1); and Determining a second collision mitigation action for the target vehicle (2) based on the detected environmental information and based on information communicated between the host vehicle (1) and the target vehicle (2) (300); and Execution of the first collision mitigation action by the host vehicle (1) (400). Procedure according to Claim 1 wherein in the case that it is determined that the collision is likely to occur, the first collision mitigation action is determined by the host vehicle (1) and the second collision mitigation action is determined by the target vehicle (2) (300a). Procedure according to Claim 1 wherein, in the case that it is determined that the collision is likely to occur, the first collision mitigation action and the second collision mitigation action are determined by the host vehicle (1) (300b). Procedure according to Claim 1 wherein, in the case that it is determined that the collision is likely to occur, the first collision mitigation action and the second collision mitigation action are determined by the host vehicle (1) and the target vehicle (2) (300c). Method according to one of the preceding claims, wherein the information communicated between the host vehicle (1) and the target vehicle (2) comprises at least one item of information among: a collision mitigation trajectory parameter, a vehicle speed, a vehicle mass, environmental information, the first collision mitigation action or the second collision mitigation action. Method according to one of the preceding claims, wherein the first collision mitigation action and / or the second collision mitigation action comprises a braking and / or steering process such that the host vehicle (1) and / or the target vehicle (2) are maneuvered along a specific collision mitigation trajectory. Method according to at least one of the preceding claims, with the host vehicle (1) (400) executing the first collision mitigation action within a time period from a determination of the collision to the start of the collision mitigation action, which is shorter than a decision threshold value. Method according to at least one of the preceding claims, wherein for the case that the first collision mitigation action and the second mitigation action, in particular collision mitigation trajectories, are such that the collision is still likely, and a calculated time to collision, TTC, is below a decision threshold value, an evasive maneuver is carried out by the host vehicle (1) based on a detected direction of movement of the target vehicle (2) and in particular not based on the determined second collision mitigation action of the target vehicle (2) in such a way that a collision with the target vehicle (2) is avoided. The method according to at least one of the preceding claims, wherein the execution of the first and / or the second collision mitigation action (400, 400a) the display of properties of the collision mitigation action, in particular a direction of movement, for a driver of the other vehicle and / or the output of warning signals to the Has driver of the vehicle that is performing the collision mitigation action. Driving assistance system for carrying out at least one step of the method according to at least one of the preceding claims. Vehicle with a driving assistance system according to the preceding claim. Computer program with instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to at least one of the preceding claims. Data carrier signal which the computer program according to the preceding claim transmits. Computer readable medium containing instructions that, when executed by a computer, cause the computer to perform the steps of the To carry out the method according to at least one of the preceding claims.

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