DE10336986A1 - Method for avoiding collisions of a vehicle - Google Patents
Method for avoiding collisions of a vehicle Download PDFInfo
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- DE10336986A1 DE10336986A1 DE10336986A DE10336986A DE10336986A1 DE 10336986 A1 DE10336986 A1 DE 10336986A1 DE 10336986 A DE10336986 A DE 10336986A DE 10336986 A DE10336986 A DE 10336986A DE 10336986 A1 DE10336986 A1 DE 10336986A1
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011143 downstream manufacturing Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Kollisionsvermeidung eines Fahrzeugs (5) mit anderen Objekten, bei dem die Umgebung des Fahrzeugs (5) ständig erfasst wird, der Abstand zu anderen Objekten ermittelt und gespeichert wird und aus der erfassten Position des Fahrzeugs und den aktuellen und gespeicherten Umgebungsdaten eine bevorstehende Kollision ermittelt und durch entsprechende Eingriffe in die Bremse und/oder Lenkung verhindert wird.The invention relates to a method for collision avoidance of a vehicle (5) with other objects, in which the environment of the vehicle (5) is constantly detected, the distance to other objects is determined and stored and from the detected position of the vehicle and the current and stored Environmental data an imminent collision determined and prevented by appropriate intervention in the brake and / or steering.
Description
Die Erfindung betrifft ein Verfahren zum Verhindern von Schäden an einem Fahrzeug aufgrund einer Kollision, bei dem die Umgebung des Fahrzeugs erfasst wird, die momentanen Abstände zu anderen Objekten bestimmt werden und eine Kollision durch automatisches geeignetes Abbremsen und/oder automatische geeignete Eingriffe in die Lenkung vermieden wird oder der Fahrer vor einer Kollision gewarnt wird.The The invention relates to a method for preventing damage to a Vehicle due to a collision, in which the environment of the vehicle which determines current distances to other objects be and a collision by automatically suitable braking and / or automatic appropriate intervention in the steering is avoided or the driver is warned of a collision.
Aus
der
Aus
der
Mit den bekannten Einparkhilfen ist es möglich, die momentane Umgebung eines Kraftfahrzeugs zu erfassen und aus den ermittelten Daten eine Fahrstrecke zu ermitteln, der entweder automatisch gefolgt wird oder die dem Fahrer mitgeteilt wird. Mit diesen Einparkhilfen ist es nicht möglich, Kollisionen des Fahrzeugs mit anderen Objekten zu vermeiden, die von der Sensorik momentan nicht erfasst werden.With The known parking aids, it is possible, the current environment a motor vehicle to capture and from the data determined a Determine route that is followed either automatically or communicated to the driver. With these parking aids is it is not possible To avoid collisions of the vehicle with other objects, by the sensors are currently not detected.
Aufgabe der vorliegenden Erfindung ist es, demgegenüber, ein Verfahren zum Verhindern von Schäden an einem Fahrzeug aufgrund einer Kollision zu schaffen, mit dem Kollisionen mit stehenden oder sich langsam bewegenden Hindernissen zuverlässig vermieden werden kann.task The present invention, in contrast, is a method for preventing of damage to create a vehicle due to a collision with the Collisions with stationary or slowly moving obstacles reliably avoided can be.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren der eingangs genannten Art gelöst, bei dem Information über die erfasste Umgebung gespeichert wird, die Position des Fahrzeugs erfasst wird und der Abstand zu in der Vergangenheit erfassten Objekten ermittelt wird. Durch diese Maßnahme ist es möglich, auch die Umgebung des Fahrzeugs in der Vergangenheit zu betrachten, um zukünftige Kollisionen zu vermeiden.These The object is achieved by a Method of the type mentioned above, in which information about the recorded environment detected, the position of the vehicle is detected and determines the distance to objects detected in the past becomes. By this measure is it is possible also to look at the environment of the vehicle in the past, for future Avoid collisions.
Es kann auf diese Art und Weise ein Modell der Umgebung des Fahrzeugs erstellt werden. Insbesondere können Abstände zu Objekten ermittelt bzw. berechnet werden, die momentan von der Sensorik des Fahrzeugs nicht gesehen beziehungsweise erfasst werden. Dadurch, dass die Position des Fahrzeugs erfasst wird und die erfasste Umgebung gespeichert wird, kann ein lokales Koordinatensystem aufgestellt werden, in dem die anderen Objekte abgespeichert sind und kann eine Korrelation zu den anderen Objekten erstellt werden. Die Position des Fahrzeugs kann dabei global und/oder relativ zu den erfassten Objekten bestimmt werden. Durch das erfindungsgemäße Verfahren werden Schäden am Fahrzeug beziehungsweise an Objekten (Hindernissen), die durch Auffahren auf diese Objekte beziehungsweise Entlangschrammen an diesen Objekten entstehen können, vermieden. Dazu sind Eingriffe in die Lenkung und/oder in die Betriebs- oder Feststellbremse vorgesehen. Je nach der eingesetzten umgebungserfassenden Sensorik können bewegte und nicht bewegte andere Objekte erfasst und gespeichert werden. Die Daten der Sensorik können vor oder nach der Speicherung ausgewertet und/oder verarbeitet werden. Das erfindungsgemäße Verfahren ist daher nicht auf eine Einparkhilfe beschränkt, sondern ist geeignet, Kollisionen im fließenden, insbesondere im langsam fließenden Verkehr zu vermeiden.It In this way, a model of the environment of the vehicle can be created to be created. In particular, you can distances are calculated or calculated to objects that are currently from the Sensors of the vehicle can not be seen or detected. The fact that the position of the vehicle is detected and the detected Environment is stored, a local coordinate system can be set up in which the other objects are stored and can be one Correlation to the other objects are created. The position of the vehicle can be global and / or relative to the detected Objects are determined. By the method according to the invention will damage on the vehicle or objects (obstacles), by Ascending to these objects or scurrying to these objects can arise avoided. For this purpose, interventions in the steering and / or in the operating or parking brake provided. Depending on the environment-used Sensors can moving and not moving other objects captured and stored become. The data of the sensors can evaluated and / or processed before or after storage. The inventive method is therefore not limited to a parking aid, but is suitable Collisions in the flowing, especially in slow-flowing Avoid traffic.
Bei einer besonders bevorzugten Verfahrensvariante wird die Bewegung des Fahrzeugs und/oder der anderen Objekte erfasst. Durch diese Maßnahme wird die Genauigkeit des Verfahrens erhöht. Die Positions- beziehungsweise Bewegungsbestimmung des Fahrzeugs und der externen Objekte kann beispielsweise durch einen Laserscanner, durch Ultraschallsensoren, durch Radar, durch Kameras mit nachgeschalteter Bildverarbeitung, durch Raddrehzahlsensoren, Gierratensensoren, Global Positioning System (GPS), optischen Systemen zur Quergeschwindigkeitsbestimmung (Korrevit) sowie Längs- und Quersensoren, die eine Längs- und Querbewegung von Objekten beziehungsweise des Fahrzeugs ermitteln, bestimmt werden.In a particularly preferred variant of the method, the movement of the vehicle and / or the other objects is detected. This measure increases the accuracy of the method. The position or movement determination of the vehicle and the external objects can be performed, for example, by a laser scanner, ultrasound sensors, radar, cameras with downstream image processing, wheel speed sensors, yaw rate sensors, Global Positioning System (GPS), optical systems for lateral velocity determination (Korrevit) and longitudinal - and transverse sensors, the longitudinal and transverse movement of objects or the Determine vehicle to be determined.
Besonders bevorzugt ist es, wenn eine Darstellung der Umgebung des Fahrzeugs erstellt wird, in der Informationen über die Position und das Bewegungsverhalten des Fahrzeugs und der anderen Objekte abgelegt bzw. dargestellt sind. Eine solche Darstellung kann beispielsweise eine lokale Karte in der Umgebung des Fahrzeugs sein. In dieser Karte sind die Position des Fahrzeugs sowie die Position von momentan und in der Vergangenheit erkannter Objekte beziehungsweise Hindernisse dargestellt. Insbesondere werden in der Karte die eigene Position, das eigene Bewegungsverhalten, die Positionen und das Bewegungsverhalten der erkannten Objekte zueinander in Beziehung gesetzt. Die Verwendung einer solchen Karte ist insbesondere geeignet, bewegte andere Objekte bei der Kollisionsüberwachung zu berücksichtigen. Mögliche Kollisionen mit einem vor kurzem erfassten bewegten Objekt können erkannt und vermieden werden. Weiterhin ist es möglich, die anderen Objekte zu klassifizieren, also insbesondere anzugeben, ob es sich bei dem Objekt um eine Wand, ein Auto, einen Fußgänger oder dergleichen handelt. Die verschiedenen Objekte können in der Karte unterschiedlich dargestellt werden. Das Bewegungsverhalten der Objekte kann beispielsweise durch Spurverfolgung (tracking) oder Kalman-Filterung, d.h. einer Schätzung aus mehreren Messdaten und einem mathematischen Modell erfolgen. Bei der Berechnung von Abständen zwischen dem Fahrzeug und den anderen Objekten können insbesondere die Relativ- und/oder die Absolutgeschwindigkeiten sowohl des Fahrzeugs als auch der anderen Objekte berücksichtigt werden.Especially it is preferred if a representation of the environment of the vehicle is created in the information about the position and the movement behavior the vehicle and the other objects stored or displayed are. Such a representation may be, for example, a local map be in the vicinity of the vehicle. In this map are the position of the vehicle as well as the position of momentarily and in the past detected objects or obstacles. Especially become in the map the own position, the own movement behavior, the positions and the movement behavior of the detected objects related to each other. The use of such a card is particularly suitable for moving other objects in collision monitoring to take into account. Possible Collisions with a recently detected moving object can be detected and detected be avoided. Furthermore, it is possible the other objects to classify, in particular to indicate whether it is in the Object is about a wall, a car, a pedestrian or the like. The different objects can shown differently on the map. The movement behavior the objects can be tracked, for example, by tracking or Kalman filtering, i. an estimate of several measurement data and a mathematical model. When calculating distances between The vehicle and the other objects can in particular have the relative speeds and / or the absolute speeds taken into account both the vehicle and the other objects become.
Bei einer Verfahrensvariante ist vorgesehen, dass die gespeicherte Umgebung bzw. die gespeicherte Information über die Umgebung und/oder die Darstellung aktualisiert und verwaltet wird. Durch diese Maßnahme werden die gespeicherten Daten beziehungsweise die Darstellung (Karte) aktuell gehalten und eine Kollision kann sicher vermieden werden.at a variant of the method is provided that the stored environment or the stored information about the environment and / or the representation is updated and managed. By this measure, the stored Data or presentation (map) kept up to date and a collision can be safely avoided.
Vorteilhafterweise werden die minimalen Abstände, bei denen durch Abbremsen und/oder Ausweichen eine Kollision vermieden werden kann, ermittelt. Die minimalen Abstände können von der Fahrzeuggeschwindigkeit beziehungsweise von der Relativgeschwindigkeit zu den anderen Objekten abhängen. Daher können sich die minimalen Abstände ändern und ist es vorteilhaft, nicht einen vorgegebenen minimalen Abstand zu wählen sondern die minimalen Abstände auf die jeweilige Situation anzupassen. Dabei können für unterschiedliche Stellen des Fahrzeugs, insbesondere für unterschiedliche Abstandssensoren, unterschiedliche minimale Abstände gelten. Fährt ein Fahrzeug beispielsweise in eine Richtung, dann können in Fahrtrichtung größere minimale Abstände gelten als senkrecht zur Fahrtrichtung. Insbesondere ist bei zähfließendem Verkehr zu einem auf derselben Spur vorausfahrenden Fahrzeug ein größerer Sicherheitsabstand einzuhalten als seitlich zu einem geparkten Fahrzeug.advantageously, become the minimum distances, where avoided by deceleration and / or avoiding a collision can be determined. The minimum distances may depend on the vehicle speed or from the relative speed to the other objects depend. Therefore, you can the minimum distances change and It is advantageous not to have a given minimum distance choose but the minimum distances to adapt to the particular situation. This can be done for different jobs of the vehicle, in particular for different distance sensors, different minimum distances apply. Drive in For example, vehicle in one direction, then in the direction of travel larger minimum distances are considered perpendicular to the direction of travel. In particular, with slow-flowing traffic for a vehicle ahead on the same lane a greater safety distance to be kept as lateral to a parked vehicle.
Bei einer Verfahrensvariante kann vorgesehen sein, dass der Fahrer vor einer Kollision visuell und/oder akustisch und/oder haptisch gewarnt wird.at A variant of the method can be provided that the driver before warned of a collision visually and / or acoustically and / or haptically becomes.
Als haptische Warnung ist es vorstellbar, dass der Fahrer auf eine mögliche Kollision durch eine Vibration des Lenkrads und/oder der Pedale aufmerksam gemacht wird. Alternativ oder zusätzlich kann vorgesehen sein, dass der Fahrsitz in Bewegung versetzt wird. Außerdem kann der Fahrer durch ein kurzzeitiges abruptes Abbremsen des Fahrzeugs auf eine Gefahrensituation aufmerksam gemacht werden.When haptic warning, it is conceivable that the driver is on a possible collision alert by a vibration of the steering wheel and / or the pedals is done. Alternatively or additionally, it may be provided that the driving seat is set in motion. In addition, the driver can by a brief abrupt braking of the vehicle to a dangerous situation to be made aware.
Die Aufgabe wird außerdem gelöst durch ein System zur Verhinderung von Beschädigung eines Fahrzeugs, umfassend eine Sensorik zur Erfassung der Umgebung des Fahrzeugs, Betätigungsmittel zum automatischen Bremsen und/oder Lenken zur Vermeidung von Kollisionen mit anderen Objekten und/oder eine Warneinrichtung, und eine Steuereinheit zur Ermittlung des Abstands des Fahrzeugs zu Objekten in der Umgebung des Fahrzeugs aus den Signalen der Sensorik und zur Generierung von Signalen für ein automatisches Bremsen und/oder Lenken und/oder Warnen zur Vermeidung von Kollisionen, wobei eine Positionserfassungseinrichtung zur Erfassung der Position des Fahrzeugs, eine Speichereinrichtung zum Speichern der von der Sensorik erfassten Umgebungsdaten und Mittel zur Abstandsbestimmung zu gespeicherten Objekten vorgesehen sind. Mit einem solchen System sind Kollisionen nicht nur beim Einparken vermeidbar sondern sind Kollisionen insbesondere im sich langsam bewegenden Verkehr, insbesondere im Stau beziehungsweise bei zähfließendem Verkehr vermeidbar. Die Mittel zur Abstandsbestimmung zu gespeicherten Objekten können in der Steuereinheit angeordnet sein.The Task will as well solved by a system for preventing damage to a vehicle, comprising a sensor for detecting the environment of the vehicle, actuating means for automatic braking and / or steering to avoid collisions with other objects and / or a warning device, and a control unit to determine the distance of the vehicle to objects in the environment of the vehicle from the signals of the sensors and for generation of signals for an automatic braking and / or steering and / or warning to avoid of collisions, wherein a position detecting means for detecting the position of the vehicle, a memory device for storing the environmental data acquired by the sensor and means for distance determination are provided for stored objects. With such a system Collisions are not only avoidable when parking but are Collisions especially in slow moving traffic, in particular in traffic jams or slow-moving traffic preventable. The means for determining the distance to stored objects can be found in be arranged the control unit.
Bei einer bevorzugten Ausführungsform der Erfindung kann eine Bewegungserfassungseinrichtung vorgesehen sein. Mit einer solchen Bewegungserfassungseinrichtung kann sowohl die Bewegung des Fahrzeugs als auch der anderen Objekte erfasst werden. Aus den erfassten Bewegungen kann wiederum eine Relativbewegung des Fahrzeugs zu den anderen Objekten ermittelt werden.at a preferred embodiment The invention may provide a movement detection device be. With such a motion detection device can both the movement of the vehicle as well as the other objects are detected. From the detected movements, in turn, a relative movement of the vehicle to the other objects.
Vorteilhafterweise umfasst die Sensorik Abstandssensoren. Durch wiederholte Abstandsmessung zwischen dem Fahrzeug und einem Objekt kann unter Berücksichtigung der Position bzw. Positionsveränderung des Fahrzeugs festgestellt werden, ob sich das andere Objekt bewegt oder still steht, die relative Bewegung des Fahrzeugs zu dem Objekt ermittelt werden und eine Vorhersage für eine Bewegungsrichtung des Objekts in der Zukunft getroffen werden.Advantageously, the sensor system includes distance sensors. By repeatedly measuring the distance between the vehicle and an object, it can be ascertained, taking into account the position or change in position of the vehicle, whether the other object is moving or standing still, the relative movement of the vehicle to the object be averaged and a prediction for a direction of movement of the object to be made in the future.
Wenn Mittel zur Erkennung und Klassifizierung der Objekte vorgesehen sind, kann dem Fahrer ein realistisches Bild von der Umgebung des Fahrzeugs angezeigt werden.If Means for detecting and classifying the objects provided can give the driver a realistic picture of the surroundings of the Vehicle are displayed.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispiels der Erfindung, anhand der Figuren der Zeichnung, die erfindungswesentliche Einzelheiten zeigen, und aus den Ansprüchen. Die einzelnen Merkmale können je einzeln für sich oder zu mehreren in beliebiger Kombination bei einer Variante der Erfindung verwirklicht sein.Further Features and advantages of the invention will become apparent from the following Description of an embodiment the invention, with reference to the figures of the drawing, the invention essential Details show, and from the claims. The individual characteristics can each individually for one or more in any combination in a variant be realized the invention.
Ausführungsbeispiele der Erfindung werden anhand einer Zeichnung näher erläutert. Dabei zeigen:embodiments The invention will be explained in more detail with reference to a drawing. Showing:
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der Position und Geschwindigkeit des Fahrzeugs
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weiterem Fahren des Fahrzeugs
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das System in dem Fall, dass das Fahrzeug
Die
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Steuereinheit
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Erfindung betrifft ein Verfahren zu Kollisionsvermeidung eines Fahrzeugs
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Claims (11)
Priority Applications (2)
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DE10336986A DE10336986A1 (en) | 2003-08-12 | 2003-08-12 | Method for avoiding collisions of a vehicle |
PCT/EP2004/008571 WO2005014370A1 (en) | 2003-08-12 | 2004-07-30 | Method for the prevention of collisions of a vehicle |
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DE10336986A DE10336986A1 (en) | 2003-08-12 | 2003-08-12 | Method for avoiding collisions of a vehicle |
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DE10336986A Withdrawn DE10336986A1 (en) | 2003-08-12 | 2003-08-12 | Method for avoiding collisions of a vehicle |
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WO (1) | WO2005014370A1 (en) |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005016086A1 (en) * | 2005-04-08 | 2006-10-12 | GM Global Technology Operations, Inc., Detroit | Active driving safety system for motor vehicle, uses control algorithm to evaluate and then effect or disallow lane switching of vehicle based on vehicle driving conditions as well as proximity of vehicle with other vehicles or obstacles |
DE102006010275A1 (en) * | 2005-03-03 | 2006-12-14 | Continental Teves Ag & Co. Ohg | Method and device for avoiding a collision during a lane change of a vehicle |
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