DE10349210B4 - System and method for predictively detecting a potential accident object in the automotive field - Google Patents

Abstract

System for predictive detection of a potential accident object in the motor vehicle area, comprising: at least one sensor device (2) for scanning a predetermined local area for recording data relating to a potential accident object, the at least one sensor device (2) on a motor vehicle (1a, 1b, 1c ) is arranged to be pivotable about at least one axis (5) extending approximately perpendicular to the plane of the roadway; and with a control device (3) which controls a pivoting movement of the at least one sensor device (2) depending on the distance and / or the hazard potential of the potential accident object and / or the tire position of the motor vehicle (1a, 1b, 1c), the control device (3) is designed to control the frequency of the swiveling movement as a function of the driving speed of the motor vehicle and / or as a function of the distance from the potential accident object.

Description

STATE OF THE ART

The present invention relates to a system and method for predictively detecting a potential vehicle accident subject comprising at least one sensor means for sensing a predetermined local area for acquiring data relating to a potential subject of the accident.

Personal protection in the motor vehicle is becoming increasingly important and there are already a wide variety of systems and methods by which the occupants of a motor vehicle are protected from injury in the event of an accident or by which such injuries can be alleviated.

For example, according to the prior art, a predictive accident sensing is performed by the use of long-range radar (LRR) sensors. Although these LRR sensors have a sufficiently long range of about 120 m, but their emission characteristics has only a small aperture angle of typically less than 10 °.

Thus, the LRR sensors have the disadvantage that at close range, i. H. with relative distances between the motor vehicle and the possible accident subject of less than 10 m, with this sensor information on the impending accident are limited, since the aperture angle of 10 ° is not sufficient to obtain sufficient information of the pre-crash objects ,

Thus, according to the prior art, a further additional sensor system for the near range had to be used so far, for. B. ultrasonic sensors, wherein a data transmission is necessary in order to achieve a faster detection by the additional sensors can.

This approach also has the disadvantage that there is a risk of data loss, as there may be a detection gap between the different sensitivity ranges, i. h. that a gray area may exist in which reliable monitoring is not possible.

The DE 102 23 123 A1 describes a detection device for detecting a collision, in particular a parked vehicle with an approaching first vehicle, wherein at least one sensor is for detecting the collision with the first vehicle, and in which a camera device optically detects the first vehicle.

The DE 198 42 827 A1 describes a pre-crash sensing system for motor vehicles, which has a high object specificity and allows a quick evaluation of the detected signals. In the pre-crash sensing system, an evaluation device is provided for evaluating the acquired image, which selects partial regions of the acquired image by means of an algorithm and controls the image-defining parameters by means of an image generation device and an associated control device in such a way that the selected regions are correlated with other parameters be reproduced.

The DE 196 03 267 A1 describes a device for determining the distance and / or position of an object relative to a measuring location, with an optical distance measuring device, with an image acquisition device for receiving the object, and an evaluation device, the image signals of the image detection device are supplied and based on the distance value of the distance measuring device and the position of the object in the image acquisition determines the spatial position of the object.

The DE 101 02 772 A1 describes a device and an associated method in which a function is provided which processes input variables and generates function-related output signals. These outputs relate to automatic braking and automatic steering intervention in a motor vehicle. If certain conditions exist, a current record in a non-volatile memory device is sheared until it has been read out via an interface.

The DE 36 37 165 A1 describes a method and apparatus for preventing collisions, particularly of motor vehicles in traffic. The device is based on a system integrated into the vehicle, which registers dangerous situations, in particular the risk of being hit, independently of the driver and triggers countermeasures.

The DE 21 47 523 A describes a method for reducing the risk of collision of a road vehicle and a radar device for checking the driving.

According to a further approach according to the prior art, a plurality of sensors can be used to cover a larger angular range when using sensors with a narrow directivity. However, this solution is unfavorable for reasons of cost and cabling.

ADVANTAGES OF THE INVENTION

The system according to the invention with the features of claim 1 and the corresponding method with the features of claim 5 have over the known approaches to the solution on the advantage that sensors with a narrow directivity can also extensively sense the near area. Thus, additional sensors for Nahbereichsmessung are not required, which labor and cost can be saved.

The idea on which the present invention is based is that the at least one sensor device for scanning a predetermined local area for detecting data relating to a potential accident object on the motor vehicle is arranged so as to be pivotable about at least one axis extending approximately perpendicularly to the roadway plane, wherein a control device controls the frequency of the pivoting movement of the at least one sensor device as a function of the distance and / or the risk potential of the potential potential accident object and / or the tire position of the motor vehicle.

Thus, the sensor device can not, for example, for a far-range measurement, d. H. With a frequency equal to 0 Hz, or at a low frequency in a certain angular range are pivoted, and in the case of detecting a dangerously approaching object in the transition to the near range, the frequency of the pivoting movement can be increased such that by a sensor device with a narrow directional characteristic a larger angle range is covered by the sensor device.

In the dependent claims are advantageous developments and improvements of the system specified in claim 1 and the method specified in claim 5.

According to a preferred embodiment, a plurality of sensor devices can be provided, which scan, for example, different angular ranges. However, the individual sensor devices can preferably be used both for short-range measurement and for long-range measurement.

Preferably, the control unit also controls the angular range and / or the pivoting frequency of the respective sensor devices as a function of the distance of the accident object, the hazard potential of the accident object, the driving speed and / or the tire position of the motor vehicle.

According to a further preferred development, the frequency of the pivoting movement is selected by the control unit in the high-frequency range in a Nahbereichsmessung. Thus, reliable measurements can be made in a wide range of angles even with a small distance between the eventual object of the accident and the motor vehicle.

However, it is also possible to provide a plurality of sensor devices in the motor vehicle, of which one sensor device is preferably actuated for a long-range measurement with a lower and another sensor device for a short-range measurement with a higher frequency.

According to a further embodiment, the plurality of sensor devices can be driven, for example, with the same frequency, wherein an in-phase, out-of-phase or asynchronous control is possible.

Preferably, the acquired data is sent to the control unit, wherein the control unit with the aid of this acquired data carries out a classification of the possible accident object. In the case of a high risk potential, the control unit in the motor vehicle provided, suitable personal protection devices, such as an airbag, a restraint belt, an active headrest or the like trigger or activate.

DRAWINGS

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description.

In the figures show:

1 a schematic representation of a far-field measurement by means of a pivotable sensor device according to an embodiment of the present invention; and

2 a schematic representation of a Nahbereichsmessung according to another embodiment of the present invention.

DESCRIPTION OF THE EMBODIMENTS

In the figures, the same reference numerals designate the same or functionally identical components.

According to an embodiment of the present invention, the motor vehicle 1a . 1b and 1c in the 1 and 2 at least one sensor device 2 on, for example, a long Range Radar (LRR) sensor 2 , The LRR sensor 2 is preferably via a data line with a control unit 3 connected by the sensor device 2 Received and sent data receives and evaluates. In the case of a through the control unit 3 detected high risk potential, the control unit 3 with the same connected suitable personal protective equipment 4 For example, activate an air bag, a seat belt pretensioner, an active backrest or the like.

The sensor device 2 is also preferably at least about an axis 5 pivotable, which is approximately perpendicular to the road surface, ie in the 1 and 2 perpendicular to the leaf level, is aligned. It is natural for the expert that deviations of the axis position are quite possible.

In a first embodiment, as in 1 visible, the LRR sensor senses 2 when driving straight ahead of a motor vehicle 1a a rigid angle range, for example, in the direction of travel, that is aligned parallel to the vehicle longitudinal axis.

Drives a motor vehicle 1b , as in 1 it can be seen, for example, a left turn, so controls the controller 3 the pivoting movement of the sensor device 2 according to the current tire position of the motor vehicle 1b dynamic. This means that the sensor device 2 in the case of a left turn by the controller something about the axis 5 is pivoted, so that the detected measuring range is shifted with respect to the longitudinal axis of the motor vehicle according to the tire position to the left. Thus, for example, the LRR sensor 2 with a narrow directional characteristic or a narrow transmission and reception characteristic also detect potential accident objects which are offset in the curve to be traveled and thus to the longitudinal axis of the motor vehicle.

In a next method step, the sensor device 2 in the case of a detected potential accident object, verify the authenticity and the stability of the signal reflection from the potential accident object by the sensor device 2 is driven so that it reciprocates by a small angle amount. In this way, it is possible to check whether the previously detected peak in the reflection signals of the subject of the accident, which represents the reflection of a pulse at a certain point of the potential subject, remains stable in its amplitude and position or not. In the latter case, the control unit can classify the initially detected peak and assign an increased hazard potential to the potential accident object. The adverse effects of inhomogeneous transmit and receive characteristics can be further reduced in this way.

If, for example, an object approaching with dangerously great relative speed, for example an oncoming motor vehicle, is already at a large distance by means of the sensor device 2 detected, the potential accident subject up to a critical distance, from which it is no longer meaningfully possible, the short-range with the narrow sensor characteristic of an example LRR sensor 2 sufficiently reliable to capture, further recorded and checked.

When a potential collision object is detected, according to another embodiment of the present invention, in accurately tracking the approaching operation, the angular range of the sensor device 2 be controlled by the controller so that the relevant accident subject can be tracked longer. As already explained above, can the Sensoreinrichung 2 through the control unit 3 be driven so that they are around the axis 5 is pivoted accordingly.

When the potential victim leaves the "dangerous" angle range, the controller controls 3 the sensor device 2 preferably such that it returns to the starting position, ie in the central orientation.

When approaching a potential accident object had in accordance with the prior art, as already explained above, recourse to an additional sensor, such as an ultrasonic sensor to allow for a transition of the accident subject from the distant area in the vicinity reliable monitoring of the eventual collision object. However, in the case of use of different sensors, as already explained in the introduction to the description, a gray area may occur in which reliable monitoring is not possible.

2 shows a schematic representation of another embodiment of the present invention, wherein the sensor device 2 through the control unit 3 in the case of an increased risk potential, ie in the case of moving the already traced for some time further eventual accident object in the vicinity, a certain angle range thereby scanned high frequency by the sensor device 2 through the control unit 3 is controlled such that the sensor device with a certain frequency around the axis 5 is pivoted. In this case, the frequency of the pivoting movement as well as the angular range preferably by the control unit 3 be controlled depending on the distance of the eventual accident object, the hazard potential of the eventual accident object and / or the tire position of the motor vehicle of the occupant to be protected.

Thus, even with an LRR sensor 2 With a very narrow directional characteristic, a larger angular range can be reliably covered.

Preferably, the sensor device 2 for a measurement in the long range not or with a low frequency, for example, a frequency of about 0 Hz to 10 Hz, and in the vicinity of an example, higher frequency around the axis 5 pivoted. Furthermore, the frequency of the pivoting movement can be controlled depending on the driving speed of the motor vehicle and depending on the distance of the potential accident object. Even with constant driving speed, a variation of the swing frequency may be advantageous under certain circumstances.

According to a further exemplary embodiment of the present invention, a plurality of sensor devices 2 be provided on the motor vehicle, which at different frequencies or at the same frequencies by the controller 3 be controlled. It is advantageous that the respective sensor devices 2 Scanning different angular ranges, so that the widest possible environment can be covered or scanned around the motor vehicle.

In the case of a control of the plurality of sensor devices with the same frequency, the sensor devices 2 through the control unit 3 For example, in-phase, out of phase, asynchronous, or the like can be controlled.

In order to distinguish the sensor signals of the individual sensor devices, for example, a sensor-specific signal pulse can be transmitted by the associated sensor device in order to be able to clearly detect, based on the signals reflected by the eventual accident object, which reflection signal is to be assigned to which sensor device.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto but modifiable in a variety of ways.

For example, a pre-crash sensor wobbler can be provided, by means of which signals reflected from any eventual object can be examined for their position and / or amplitude stability. This allows a classification of the detected eventual collision objects supported by the control unit and the risk potential can be calculated more reliable.

Claims (10)

System for a forward-looking detection of a potential accident object in the motor vehicle area, comprising: at least one sensor device ( 2 ) for sensing a predetermined local area for acquiring data relating to a potential accident subject, the at least one sensor device (16) 2 ) on a motor vehicle ( 1a . 1b . 1c ) about at least one axis extending approximately perpendicular to the roadway plane ( 5 ) is pivotally mounted; and with a control unit ( 3 ), which is a pivoting movement of the at least one sensor device ( 2 ) as a function of the distance and / or the risk potential of the potential potential accident object and / or the tire position of the motor vehicle ( 1a . 1b . 1c ), whereby the control unit ( 3 ) is adapted to control the frequency of the pivoting movement in dependence on the driving speed of the motor vehicle and / or in dependence on the distance to the potential accident object. System according to claim 1, characterized in that a plurality of sensor devices on the motor vehicle ( 1a . 1b . 1c ) are provided, which scan, for example, different angular ranges and can be controlled with the same or different frequencies. System according to claim 1 or 2, characterized in that the control unit ( 3 ) the angular range of the at least one sensor device ( 2 ) as a function of the distance and / or the risk potential of the eventual accident object and / or the tire position of the motor vehicle ( 1a . 1b . 1c ) controls. System according to at least one of the preceding claims, characterized in that the at least one sensor device ( 2 ) is designed as a long-range radar (LRR) sensor. Method for the forward-looking detection of a potential accident object in a motor vehicle, comprising the following steps: scanning a predetermined local area for acquiring data relating to a potential accident object by means of at least one sensor device ( 2 ); Evaluation of the acquired data by means of a control unit ( 3 ); and controlling the pivoting movement of the at least one sensor device ( 2 ) by at least one approximately perpendicular to the roadway level Axis ( 5 ) as a function of the distance and / or the risk potential of the eventual accident object and / or the tire position of the motor vehicle ( 1a . 1b . 1c ) by means of the control unit ( 3 ), wherein the frequency of the pivoting movement by the control unit ( 3 ) is controlled as a function of the driving speed of the motor vehicle and / or as a function of the distance to the potential accident object. A method according to claim 5, characterized in that a plurality of sensor devices on the motor vehicle ( 1a . 1b . 1c ), wherein at least one sensor device for a long-range measurement with a lower and at least one sensor device for a short-range measurement with a higher frequency are driven. Method according to at least one of claims 5 to 6, characterized in that a plurality of sensor devices on the motor vehicle ( 1a . 1b . 1c ) are arranged, which are driven in-phase, out of phase, asynchronous or with different frequencies. Method according to at least one of claims 5 to 7, characterized in that the at least one sensor device ( 2 ) is moved back and forth in a long range measurement for a check, for example, the authenticity and / or the stability of the signal data in a small angular range, wherein the angle range is set in accordance with the distance of the eventual accident object by the control unit accordingly. Method according to at least one of claims 5 to 8, characterized in that by means of the acquired data, a classification of the eventual accident object by the control device ( 3 ) is performed. Method according to at least one of claims 5 to 9, characterized in that suitable personal protective devices ( 4 ) in the event of an impending accident being detected by the control unit ( 3 ) to be activated.

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