DE102022202227A1 - Method of avoiding a collision between vehicles - Google Patents

Abstract

A method (100) for avoiding a collision between vehicles is proposed, which comprises the following steps: • Determination (102) of a position of a first vehicle (10) • Detection (103) of at least one upcoming curve (12) • Determination (104 ) a minimum curve radius (13) • determination (105) of the curve limit radius (14) of the first vehicle (10) in the curve (12) • determination (101) of a risk of collision based on a comparison of the curve limit radius (14) and the minimum curve radius ( 13) and a predictive simultaneous presence of a second vehicle (11) on an oncoming lane (16) in the curve • Output (121) of a warning to a driver of the first vehicle (10) and/or to the driver of the second vehicle (11) upon detection (120) of a risk of collision.

Description

The invention relates to a method for avoiding a collision between vehicles according to claim 1.

State of the art

In principle, methods for avoiding collisions between vehicles are known, which are primarily aimed at traffic in cities or on freeways. On country roads, especially in the mountains, there is a much higher risk potential due to the narrow roadway width and the large curve radii of the route. In addition, due to the surrounding landscape, there is often no line of sight to oncoming traffic. For example, describes the US 10,661,803 A1 Possibilities for determining a curve radius, but without potential for avoiding a collision with other vehicles.

Disclosure of Invention

The object of the present invention is to improve a method for avoiding a collision between vehicles in such a way that collisions can also be effectively avoided in difficult scenic situations. Furthermore, warnings should only be issued if there is actually an increased risk of collision.

The aforementioned task is solved by a method for avoiding a collision between vehicles. For this purpose, a position of a first vehicle is determined. For example, the position of the vehicle can be determined using a map, for example the vehicle's own or cloud-based map, and can be determined relative to it. In particular, the precise position of the vehicle in relation to a lane on which the vehicle is located can be determined. The position of the vehicle can be determined via satellite navigation. In addition, own movement data and preferably the movement data of other vehicles can be used as an aid. For example, if satellite navigation is not available for a period of time, the position can be determined in this way. The requirements for the spatial resolution can also be determined by the size of the vehicles.

At least one upcoming curve is also recognized. The position of the curve can, for example, be based on the vehicle's own or cloud-based map of the vehicle's surroundings. A minimum curve radius is determined for the at least one forthcoming curve. Above all, the minimum curve radius is determined at least at one point of the curve, especially at the apex. A curve limit radius of the first vehicle in the curve is also determined. The curve limit radius is preferably determined at the same point as the minimum curve radius.

The minimum curve radius is preferably determined based on a derived course of the curve, for example using the map. The first vehicle is in a lane, in other words a lane that is part of a road that also has an oncoming lane. There is an oncoming lane even without a separation marking, always when there are two opposing traffic flows. The road or lane and the oncoming lane can be approximated, for example using the map.

The minimum curve radius can, for example, be determined directly using the map. To determine the minimum curve radius, the curve is approximated using an imaginary center point. The minimum curve radius defines the minimum radius of the curve and thus ends at the end of the lane facing the imaginary center of the circle and thus at the transition to the oncoming lane.

The curve limit radius preferably depends on parameters such as vehicle width, vehicle length and roadway width.

The curve limit radius for the first vehicle results in particular from the following formula: $$\begin{array}{l}\text{curve limit radius}=\left({\text{lane width}}^2{\text{-vehicle width}}^2{\text{-vehicle}\ddot{\text{a}}\text{ng}}^{\text{2}}\text{/}4\right)\text{/}(2\\ *\left(\text{Vehicle width-road width}\right))\end{array}$$

The curve limit radius has the same circle center as the minimum curve radius. The method includes determining a risk of collision based on a comparison of the curve limit radius and the minimum curve radius and based on a predictive simultaneous presence of a second vehicle on the oncoming lane in the curve. The steps described above are mainly performed for each curve. The simultaneous presence of the vehicles preferably refers to the same curve.

The method also includes the output of a warning to a driver of the first vehicle and/or to the driver of the second vehicle when a risk of collision is detected. The warning can be output visually and/or acoustically.

The method takes into account the comparison of the curve limit radius and the minimum curve radius as well as the anticipatory simultaneous presence of a second vehicle on the oncoming lane in the curve. This means that it can be taken into account whether there is actually a risk of a collision, since a second vehicle is in the corresponding curve at the same time. Furthermore, a comparison of the minimum curve radius and the curve limit radius is taken into account, since if the curve limit radius does not fall below the minimum curve radius, there is no risk of collision even if the vehicles are present at the same time.

In particular, there is direct communication between the first vehicle and the second vehicle, for example via V2V communication. Cloud-based communication between the vehicles is also an option. In other words, both the first and the second vehicle then communicate with a cloud and can transmit information in this way. In particular, the position and the speed are transmitted as information.

A speed of the first vehicle and/or a speed of the second vehicle can also be taken into account to determine the risk of collision. This can be a medium speed, for example. Not only the current position of the second vehicle, but also its speed can be transmitted via the direct communication of the first vehicle and the second vehicle or the cloud-based indirect communication.

The method includes in particular an anticipatory calculation of a point in time and a position of the passing of the first vehicle and the second vehicle. The likelihood of a collision is particularly high if the time at which both vehicles were present at the bend would be determined by the average speeds without a warning. In particular, it is determined at which point on the upcoming road the first vehicle and the second vehicle will pass each other. In this case, the method can apply a safety time window to the point in time at which the vehicle drives past, in order thus to grant a safety reservation. In this way, a time window for driving past and a driving past area can be determined.

The method may include checking whether the pass-by position is on the curve. It is thus determined, in advance, whether the second vehicle will be in the same curve as the first vehicle at the same time.

In particular, a warning is only issued if the previously determined curve limit radius is below the minimum curve radius and the position of the pass is in the curve.

With regard to the first condition, falling below the minimum curve radius means that the first vehicle can only pass the curve with an overlap with the oncoming lane. With regard to the second condition, namely that the position of passing is in the curve, this means that the second vehicle will presumably be present in the curve at the same time as the first vehicle. In the case of simultaneous presence, but not falling below the minimum curve radius, and falling below, but not simultaneous presence, preferably no warning is issued. A warning is therefore only issued if there is actually a critical risk of collision, with the determination of this risk of collision taking into account the actual route, e.g. using a map, and the minimum curve radius determined from this, the vehicle geometry using the curve limit radius and the time of the flow past based on the positions and speeds of the vehicles. This avoids the issue of a large number of irrelevant warnings that have a demonstrably negative effect on driver acceptance. When a driver is inundated with warnings, their necessity he cannot understand, his acceptance falls so much that he no longer pays the same attention to warnings that are actually relevant.

Short description of the figures

• 1 ein Verfahrensschema eines erfindungsgemäßen Verfahrens;
• 2 das Prinzip der Ermittlung des minimalen Kurvenradius und des Kurvengrenzradius; und
• 3 eine kurvenreiche Strecke und potenzielle Kollisionsbereiche zwischen zwei Fahrzeugen.

They show purely schematically:

• 1 a process diagram of a process according to the invention;
• 2 the principle of determining the minimum curve radius and curve limit radius; and
• 3 a winding track and potential collision areas between two vehicles.

Preferred Embodiments of the Invention

1 shows the process diagram of a method 100 according to the invention. The method 100 includes the determination 101 of a risk of collision, based on a comparison of a curve limit radius and a minimum curve radius and on the basis of a predictive simultaneous presence of a second vehicle on the oncoming lane in a curve.

First, a position of a first vehicle is determined 102 and at least one upcoming curve is detected 103. The minimum curve radius is determined for each upcoming curve 104. Furthermore, the curve limit radius of the first vehicle in the curve is determined 105. There is direct communication 106 between the first vehicle and the second vehicle approaching on the opposite lane. The speed of the first vehicle and/or the speed of the second vehicle is taken into account 107.

On the basis of the current positions and the speeds of the vehicles, it can be calculated in advance 108 at which point in time and at which position the first vehicle and the second vehicle will pass each other. The method 100 includes in particular a check 109 as to whether the position of the passing is in the same curve. In other words, it is determined whether the first vehicle and the second vehicle will be located in the same curve at the same time. When recognizing 120 a risk of collision, a warning is issued 121 to a driver of the first vehicle and/or to a driver of the second vehicle.

In 2 a first vehicle 10 can be seen on a lane 15 with a lane width 15a. The road also includes an oncoming lane 16. A second vehicle 11 is located on the oncoming lane 16 and is approaching the first vehicle 10. In 2 a curve 12 is shown for which a minimum curve radius 13 results. The minimum curve radius 13 defines the minimum radius of the curve 12 and thus ends at the end of the lane 15 facing the imaginary center of the circle and thus at the transition from the lane to the oncoming lane 16.

Furthermore, in 2 to see the curve limit radius 14, which in the example of 2 corresponds to the minimum curve radius 13. The curve limit radius 14 depends on the vehicle length 10a, the vehicle width 10b and the roadway width 15a. Because curve limit radius 14 corresponds to minimum curve radius 13 , first vehicle 10 can overcome curve 12 without penetrating into oncoming lane 16 .

In 3 a route can be seen, with a first vehicle 10 and a second vehicle 11, namely a motorcycle, moving in opposite directions (see the in 3 arrows shown) move. The first vehicle 10 is initially in the position shown on the right, marked with three circles, while the second vehicle 11 is in the left position, also marked with three circles.

There are several corners between the two vehicles that could potentially cause a collision. This results in a first curve 12a and a second curve 12b in which the curve boundary radius falls below the minimum curve radius and the first vehicle 10 must therefore enter the oncoming lane 16 in order to overcome the curve. How based on 3 As can be seen, however, it is quite relevant where the second vehicle 11 is located in comparison to the first vehicle. If the positions and speeds of the two vehicles indicate that the two vehicles will not be in the same curve at the same time, the limit is crossed roadway as it is in 3 shown in the first curve 12a and the second curve 12b is not relevant and no warning needs to be issued.

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

• US 10661803 A1 [0002]

Claims (6)

Method (100) for avoiding a collision between vehicles, characterized in that the method (100) comprises the following steps: • Determination (102) of a position of a first vehicle (10) • Detection (103) of at least one upcoming bend (12) • Determining (104) a minimum curve radius (13) • Determining (105) the curve limit radius (14) of the first vehicle (10) in the curve (12) • Determining (101) a risk of collision based on a comparison of the minimum curve radius (13) and the curve limit radius (14) and a predictive simultaneous presence of a second vehicle (11) on an oncoming lane (16) in the curve • outputting (121) a warning to a driver of the first vehicle (10) and/or to the driver of the second Vehicle (11) upon detection (120) of a risk of collision. Method (100) according to claim 1 , characterized in that the method (100) comprises a direct communication (106) of the first vehicle (10) and the second vehicle (11). Method (100) according to claim 2 , characterized in that the method (100) for determining (101) the risk of collision includes taking into account (107) a speed of the first vehicle (10) and/or a speed of the second vehicle (11). Method (100) according to any one of claims 2 or 3 , characterized in that the method (100) for determining (101) the risk of collision includes a predictive calculation (108) of a time and a position of the passing of the first vehicle (10) and the second vehicle (11). Method (100) according to claim 4 , characterized in that the method for determining (101) the risk of collision includes a check (109) as to whether the position of driving past is in the curve (12). Method (100) according to claim 5 , characterized in that a warning is only issued (121) if the curve limit radius (14) is below the minimum curve radius (13) and the position of driving past is in the curve (12).

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