DE102021001519A1 - Procedure for collision avoidance when vehicle doors and vehicle open - Google Patents

Abstract

The invention relates to a method for avoiding collisions when the vehicle doors (6) open, an ad hoc connection (7) to a third-party vehicle (3) standing at the side of the road being set up via a communication system of a host vehicle (5) in order to receive a door opening signal which the other vehicle (3) emits as a result of an opening of a roadside vehicle door (6) which has been initiated or which is to be expected as a result of initiating actions. The method according to the invention is characterized in that the trajectory (9) of the host vehicle (5) is checked for a collision with a danger area (8) that arises if the vehicle door (6) is opened, with a warning and/or an intervention in driving movements of the host vehicle (5) takes place.

Description

The invention relates to a method for avoiding collisions when vehicle doors open according to the type defined in more detail by the preamble of claim 1 driver assistance system.

A basic method for collision avoidance with automatically opening vehicle doors is in principle from the DE 10 2020 007 163 A1 known. In this case, an ad hoc connection to a third-party vehicle standing at the side of the road is set up via a communication system of a host vehicle in order to receive a door opening signal, which the third-party vehicle transmits due to an opening of a roadside vehicle door that has been initiated or is expected to be due to initiating actions . A vehicle-to-vehicle communication system known per se, which is often also referred to by the English term Car2Car, or with the involvement of another station also a vehicle-to-X or The Car2X communication system is thus used to warn other road users via the communication link in the event that a roadside vehicle door of a vehicle standing at the side of the road opens.

The object of the present invention is now to specify an improved method for avoiding collisions when the vehicle doors are opening.

According to the invention, this object is achieved by a method having the features in claim 1, and here in particular in the characterizing part of claim 1. Advantageous refinements and developments result from the dependent subclaims. Claim 11 also specifies a vehicle which is suitable for implementing a corresponding method.

In the method according to the invention, an ad hoc connection is set up with another vehicle parked at the side of the road in order to receive a door opening signal, which the other vehicle transmits in a manner comparable to that in the prior art mentioned above. According to the invention, the trajectory of the host vehicle is checked for a collision with a danger zone that would arise if the vehicle door were supposed to be opened. If the expected danger area intersects with the trajectory of the host vehicle, a potential collision is assumed. In the case of such a potential collision, according to the invention, a warning and/or an intervention in driving movements of the host vehicle is triggered. Such a warning can, for example, be used to warn one of the people driving the vehicle in the case of a manually driven ego vehicle. However, the warning can also contain a corresponding warning to an automated driving system of the vehicle. In particular, in all cases, i.e. when the vehicle is operated autonomously, partially autonomously or manually, an intervention in driving movements of the host vehicle can take place, for example an intervention in the steering or in the acceleration of the vehicle, in particular also a braking of the vehicle.

The signal from the other vehicle standing at the side of the road includes, for example, information about a hand approaching a door opening element, actuation of the door opener or, if the door has actually been opened, also about the movement of the door. These signals are recorded accordingly for each vehicle door facing the road and thus the ego vehicle and, if necessary, transmitted via the wireless ad hoc connection. The position of the other vehicle is also transmitted with the signals so that it can be identified. which of several vehicles parked at the side of the road is the third-party vehicle next to which the corresponding danger zone is created. Its size can be determined, for example, by a door serving area or the exit area for a person, which could be estimated, for example, using the data sent and the vehicle type or a vehicle class and the pivoting areas of doors that are typical for such a vehicle class.

According to an extraordinarily advantageous development of the method according to the invention, it is provided that the host vehicle visualizes the danger zone and/or the other vehicle, from which the danger emanates, in a head-up display. In particular in the case of manual or only partially autonomous operation, this is of particular advantage for a person driving the host vehicle or monitoring its travel movements. Because the danger area and/or the other vehicle whose door is about to open is marked accordingly, the danger can be visualized accordingly. If, for example, there are a large number of vehicles at the side of the road, a simple acoustic or haptic warning and the message "Caution, door is opening" may not be sufficient, since without the corresponding visualization it is not possible to identify which vehicle is actually causing the danger. This allows the distance to the potential hazard cannot be assessed, or only insufficiently, which leads to potential uncertainty for the person driving the vehicle or monitoring its driving functions. Ultimately, this is detrimental to traffic safety, so that the particularly favorable design with a corresponding marking of the danger area in the head-up display results in a significant safety advantage.

Another very favorable embodiment of the method according to the invention can also provide that an acoustic, visual or haptic warning is generated in the event of a potential collision. This warning can be given alone or, in particular, in addition to a corresponding visualization in the head-up display, in order to attract the attention of a person driving the vehicle or a person monitoring its driving functions and to draw their attention to the danger. In addition, the method can alternatively or additionally emit the acoustic warning into the environment, for example by activating a horn in order to warn people in the other vehicle accordingly, so that they are warned in particular of further opening or even opening of the roadside for the process critical vehicle door if necessary. In addition to simply relying on such a horn or the like, a warning can also be sent to the other vehicle according to this particularly favorable embodiment of the method according to the invention, for which the ad hoc connection is already used as a vehicle-to-vehicle connection or via a relay station is set up as a vehicle-to-X and X-to-vehicle connection. As a result, a corresponding warning can also be generated inside the other vehicle, up to and including a corresponding action which, for example, blocks the opening of the door via actuators or at least makes it significantly more difficult with regard to the forces required, so that the person opening the door can hear, visually and/or haptic warning.

Another extraordinarily favorable embodiment of the method according to the invention provides that an avoidance trajectory of the host vehicle is determined in order to avoid a collision. Such an avoidance trajectory can include, for example, the host vehicle avoiding the vehicle. For example, it can also prevent the host vehicle from changing lanes. For example, if the host vehicle is in the second lane next to parked vehicles and one of these vehicles transmits a door opening signal, then a lane change planned by an autonomous driving system or by a person driving the host vehicle can be transferred to the lane directly next to the other vehicle whose door is being opened Lane are prevented, in which in this case determined as an alternative trajectory on the current lane continuous trajectory and is more or less strongly demanded or enforced by appropriate interventions in the driving movements. In this way, for example, in particular together with a visualization of the danger area, the actually desired change to the lane located next to the parked third-party vehicles can be prevented.

1. 1. Eine Ausweichtrajektorie wird innerhalb der eigenen Fahrspur ermittelt. Ist dies nicht möglich, da beispielsweise die Fahrspur zu schmal, das Egofahrzeug und/oder die Tür zu groß sind, dann wird
2. 2. eine Ausweichtrajektorie außerhalb der eigenen Fahrspur ermittelt. Dann wird die Verkehrssituation in der Umgebung des Egofahrzeugs über Umgebungssensoren wie beispielsweise Radar, Lidar, Kameras, Ultraschallsensoren oder dergleichen erfasst. Die Ausweichtrajektorie wird über einen Eingriff in die Fahrbewegungen des Egofahrzeugs nur dann befahren oder ihre Befahrung durch einen entsprechenden Lenkeingriff unterstützt, wenn die Verkehrssituation dies entsprechend zulässt. Auf eine benachbarte Spur in die gleiche Fahrtrichtung oder auf eine Spur des entgegenkommenden Verkehrs wird also nur dann gewechselt, wenn dies aufgrund der erfassten Verkehrssituation in der Umgebung möglich ist. Der Verkehrssicherheit ist also auch hier genüge getan. Funktionieren beide Varianten nicht,
3. 3. so kann die Geschwindigkeit des Egofahrzeugs verringert werden, was prinzipiell auch ergänzend zu einer der beiden Varianten erfolgen kann, um so, je nach Fahrgeschwindigkeit, das Ausweichmanöver sicher durchführen zu können.

Of course, the avoidance trajectory can also include an avoidance trajectory for a vehicle traveling in this “critical” lane. In this case, according to an extraordinarily favorable development of this method, it is provided that the determination of the avoidance trajectory includes the following escalation stages:

1. 1. An avoidance trajectory is determined within one's own lane. If this is not possible because, for example, the lane is too narrow, the host vehicle and/or the door are too large, then
2. 2. an avoidance trajectory outside of one's own lane is determined. The traffic situation in the vicinity of the ego vehicle is then recorded using surroundings sensors such as radar, lidar, cameras, ultrasonic sensors or the like. The avoidance trajectory is only driven over by an intervention in the driving movements of the ego vehicle, or driving over it is supported by a corresponding steering intervention, if the traffic situation permits this accordingly. A change is made to an adjacent lane in the same direction of travel or to a lane of oncoming traffic only if this is possible based on the detected traffic situation in the area. The road safety is done enough here. If both variants don't work,
3. 3. The speed of the ego vehicle can be reduced, which in principle can also be done in addition to one of the two variants, in order to be able to carry out the evasive maneuver safely, depending on the driving speed.

In the case of an avoidance trajectory that cannot be navigated and a vehicle door of the other vehicle actually opening, ie if the danger becomes concrete, emergency braking is then initiated according to a further very advantageous embodiment of the method according to the invention. This is intended to prevent the collision as far as possible, or if it can no longer be prevented due to the possibly very small distance, its effects are correspondingly mitigated.

According to an extremely favorable embodiment of the method according to the invention, an actually opening vehicle door of the other vehicle is detected by environmental sensors of the host vehicle and/or a signal following the door opening signal of the other vehicle, which is based on an actual movement of the door. The first door opening signal as a warning is already sent to the environment when there are indications that a vehicle door will be opened or when actions are taken which give reason to expect a vehicle door to be opened. This signal is then used by the other vehicle as a warning signal for the other vehicles, in the method described here our own vehicle. The door opening signal can now be supplemented by a follow-up signal, which quasi indicates the completion of the preparatory actions and an actual opening of the door based on a movement of the door. If such a signal reaches the host vehicle or if the opening of the door is detected by environmental sensors such as camera systems of the host vehicle in particular, emergency braking can be initiated immediately if no negotiable evasive trajectory is available.

An extraordinarily favorable development of the method according to the invention can also provide that in the event that the opening of the vehicle door on the road side in the other vehicle is aborted, be it for example due to a warning, a horn signal or because the person opening the vehicle door notices the danger in some other way or even decides not to get out after all, then a further or alternative follow-up signal to the door opening signal of the other vehicle can also be sent as an all-clear signal. The method can then be safely ended here and the pre-planned trajectory maintained after the all-clear has been given and the risk of a collision no longer exists.

Another very advantageous embodiment of the method according to the invention can also provide that, in the event of a potential collision, safety systems of the host vehicle are prepared for the potentially imminent collision. Such preparation of security systems can include various options. For example, belts can be tightened, seats can be placed vertically or the like. Corresponding pre-warning times for safety-relevant driving interventions can also be reduced, so that if an actual movement of the door is detected, whether by a follow-up signal or the company's own environment sensors, it is possible to react particularly quickly in order to ensure maximum safety for the driver in the event of an unavoidable collision to ensure persons located in the host vehicle.

As already mentioned, in the method according to the invention, an intervention in the driving movements of the host vehicle can take place, which can take place both by braking or accelerating and by a supporting or impeding intervention in the steering by means of a steering assistance system. Driving along an avoidance trajectory is thus made easier or, for example, changing to a lane with a danger zone is correspondingly impeded. In an autonomously driving vehicle, the driving movements can also be changed fully automatically.

The method is now used in particular in the field of vehicles, and here in particular in motor vehicles, which are equipped with a communication system for vehicle-to-vehicle and/or vehicle-to-X communication and a driver assistance system. It is the case that in such vehicles the communication system and the driver assistance system are set up to carry out the method in one of the configurations described above in order to contribute to improving traffic safety and, in the case of a fully or partially manual operation of the vehicle, the person driving the vehicle to provide appropriate support or, in the case of at least partially autonomous operation, to independently take the initiative to avoid and/or slow down.

Further advantageous refinements of the method according to the invention and of the vehicle also result from the exemplary embodiment, which is illustrated in more detail below with reference to the figures.

• 1 eine Draufsicht auf ein erstes Szenario zur Erläuterung des erfindungsgemäßen Verfahrens; und
• 2 eine Draufsicht auf ein zweites mögliches Szenario zur Erläuterung des erfindungsgemäßen Verfahrens.

show:

• 1 a top view of a first scenario to explain the method according to the invention; and
• 2 a top view of a second possible scenario to explain the method according to the invention.

In the representation of 1 a scenario can be seen in which a number of parked vehicles 2 can be seen on a section of a road 1 shown here from above, one of these parked vehicles 2 being additionally provided with the reference symbol 3 . This is to be referred to as another vehicle 3 in the scenarios presented below. In a lane marked 4 next to these parked vehicles 2 together with the other vehicle 3 drives in Ego vehicle denoted by 5 . If, for example, a person wants to open a roadside vehicle door of another vehicle 3, which is indicated here and provided with the reference number 6, in order to get in or, in particular, to get out, this poses a potential danger to both the other vehicle 3 and the person getting in or out person as well as for the ego vehicle 5.

Both the other vehicle 3 and the host vehicle 5 are now equipped with communication devices for vehicle-to-vehicle or vehicle-to-X communication, not shown in detail here. An ad hoc connection can be set up between the host vehicle 5 and the third-party vehicle 3 via such communication, also referred to as Car2Car or Vehicle2Vehicle or Car2X or Vehicle2X, which is indicated here accordingly by the dashed wireless connection 7 . If the vehicle door 6 on the road side is now to be opened, which can be detected, for example, by a movement of a hand to the door opener, touching and/or actuating the door opener or even the beginning of opening of the vehicle door 6, then the ad hoc connection can be used 7 a door opening signal can be sent to the host vehicle 5 . This is now able to recognize that there is a risk of an opening vehicle door 6 on the road side. From this vehicle door 6 there is a danger area 8, which is at least partially in the lane 4 shown here on the right, and which is determined in terms of its size, in particular its width, by the opening angle of the door, the space required for getting in or out and the like .

In the host vehicle 5 , its planned trajectory 9 is now checked with regard to a collision with the danger zone 8 , ie an intersection between the trajectory 9 and the danger zone 8 . If such an intersection occurs, there is a potential risk of a collision if trajectory 9 is maintained and vehicle door 6 is actually opened or fully opened. The signal exchanged via the ad hoc connection enables the host vehicle 5 to determine the danger area 8 and to recognize the corresponding parked vehicle 2 as the other vehicle 3 from which the danger emanates. This can be visualized accordingly, for example in a head-up display, so that a person driving the ego vehicle 5 or monitoring its partially autonomous driving functions or autonomous driving functions can immediately see where the danger area 8 is and from which of the vehicles 2 in the row it is located runs out The other vehicle 3 within the row of vehicles 2 can thus be marked accordingly, which is indicated here by the line labeled 10 between the danger area 8 and the other vehicle 3 triggering this danger. At the same time as this visualization, other information can also be sent to the person responsible in the ego vehicle 5, for example by an acoustic or haptic warning, for example a beep, a warning message via voice output, a vibration of the steering wheel and/or the seat or the like.

If a potential collision is detected, the ad hoc connection 7 that has been set up, i.e. via vehicle-to-vehicle communication, or if this works via a relay station via vehicle-to-X and X-to-vehicle communication Communication a corresponding warning signal are sent to the other vehicle 3, so that there the roadside vehicle door 6 opening person is warned accordingly to check their actions again. As an alternative or in addition to this, it would of course also be possible to activate the horn of the host vehicle 5 as an acoustic warning signal, so that people in the other vehicle 3 could also be warned in this way.

If possible, an avoidance trajectory denoted here by 11 is now determined, via which the potential collision can be prevented with a minimized risk. In a first step, an attempt is made to plan the avoidance trajectory 11 within one's own lane 4 in order to avoid a lane change. If this is not possible because the danger area 8 is so wide, for example, that it is no longer possible to evade within one's own lane 4 , then the evasion trajectory 11 can also lead to the other lane, which is labeled 12 here. This can be another lane in the same direction of travel or, in principle, a lane 12 for oncoming traffic. In any case, environment sensors of the host vehicle 5 must be used to ensure that such an avoidance trajectory 11, which includes a lane change, can be traveled safely without colliding with neighboring or oncoming vehicles. If this is not easily possible, the speed of the host vehicle is slowed down and, in case of doubt, emergency braking is initiated, especially if the vehicle door 6 actually begins to open, which is, for example, sent via environment sensors of the host vehicle 5 or via the ad hoc connection 7 follow-up signal can be detected. The emergency braking can also be preceded by an activation of safety systems in the host vehicle 5, for example the tightening of seat belt tensioners, the vertical positioning of seats or the like, in order to reduce the risk of injury to people in the host vehicle 5 in the event of a minimize the collision to be avoided as much as possible.

If the opening of the vehicle door 6 is interrupted or aborted in the other vehicle 3, for example due to a transmitted warning signal, an activated horn or the like, then this can also trigger a follow-up signal which gives the all-clear accordingly, so that the host vehicle 5 remains on its originally planned trajectory 9 without having to take the risk that always accompanies a swerve and/or a lane change.

In the representation of 2 another example is shown. Lanes 4, 12 of road 1 should point in the same direction here. The same contents are respectively given the same reference numerals as in FIG 1 Mistake. The danger area 8 is augmented again, for example in a head-up display. In addition, a marking 13 is visualized, which adjoins the danger area 9 and visualizes the entire area of the lane 4 between the host vehicle 5 and the danger area 9 as being dangerous.

In this case it is the case that the planned trajectory 9 should include a lane change from lane 12 to lane 4 . In this case, too, it is very important to recognize the danger area 8 and in particular to visualize the third-party vehicle 3 accordingly. In this case, the planned lane change on the trajectory 9 can then be suppressed accordingly, in that the avoidance trajectory 11 includes persisting in the previous lane in order to avoid the danger area.

All other measures and options that have already been described above can of course also be used in this scenario.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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 102020007163 A1 [0002]

Claims (11)

Method for avoiding collisions when vehicle doors (6) open, an ad hoc connection (7) to a third-party vehicle (3) standing at the side of the road being set up via a communication system of a host vehicle (5) in order to receive a door opening signal which the third-party vehicle (3) emits as a result of an opening of a vehicle door (6) on the roadside that has been initiated or is to be expected as a result of initiating actions, characterized in that the trajectory (9) of the host vehicle (5) coincides with a danger zone ( 8) a collision is checked, in the event of a potential collision a warning and/or an intervention in the driving movements of the host vehicle (5) taking place. procedure after claim 1 , characterized in that the host vehicle (5) visualizes the danger zone (8) and/or the third-party vehicle (3) from which the danger emanates in a head-up display. procedure after claim 1 or 2 , characterized in that the warning is generated as an acoustic, visual and/or haptic warning in the event of a potential collision and/or is sent to the other vehicle (3). procedure after claim 1 , 2 or 3 , characterized in that an avoidance trajectory (11) of the host vehicle (5) is determined to avoid a collision. procedure after claim 4 , characterized in that the determination of the avoidance trajectory (11) comprises the following escalation stages: 5.1 an avoidance trajectory within one's own lane (4, 12) is determined; or if this is not possible 5.2 an avoidance trajectory (11) outside one's own lane (12,4) is determined if the traffic situation in the surroundings of the host vehicle (5) detected via surroundings sensors allows this; or if not 5.3 the speed of the host vehicle (5) is reduced. procedure after claim 4 or 5 , characterized in that in the case of an unnavigable avoidance trajectory (11) and an opening vehicle door (6) of the other vehicle (3), emergency braking of the host vehicle (5) is initiated. Procedure according to one of Claims 1 until 6 , characterized in that an opening vehicle door (6) of the other vehicle (3) based on environmental sensors of the host vehicle (5) and / or a signal following the door opening signal of the other vehicle (3), which is based on an actual movement of the vehicle door (6). , is recognized. Procedure according to one of Claims 1 until 7 , characterized in that in the event that the opening of the roadside vehicle door (6) in the other vehicle (3) is aborted, a signal following the door opening signal of the other vehicle (3) is transmitted as an all-clear signal. Procedure according to one of Claims 1 until 8th , characterized in that in the event of a potential collision, safety systems of the host vehicle (5) are prepared for the potentially impending collision. Procedure according to one of Claims 1 until 9 , characterized in that the intervention in the driving movements of the host vehicle (5) takes place by braking, accelerating or by a supporting or impeding intervention in the steering by means of steering assistance. Vehicle (2,3,5) with a communication system for vehicle-to-vehicle and/or vehicle-to-X communication and a driver assistance system, characterized in that the communication system and the driver assistance system are set up to use a method according to one of Claims 1 until 10 to perform.

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