DE4309606A1 - Method for avoiding collisions between motor vehicles - Google Patents

Method for avoiding collisions between motor vehicles

Info

Publication number
DE4309606A1
DE4309606A1 DE4309606A DE4309606A DE4309606A1 DE 4309606 A1 DE4309606 A1 DE 4309606A1 DE 4309606 A DE4309606 A DE 4309606A DE 4309606 A DE4309606 A DE 4309606A DE 4309606 A1 DE4309606 A1 DE 4309606A1
Authority
DE
Germany
Prior art keywords
distance
speed
triggered
motor vehicle
warning measure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE4309606A
Other languages
German (de)
Inventor
Walter Weishaupt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE4309606A priority Critical patent/DE4309606A1/en
Publication of DE4309606A1 publication Critical patent/DE4309606A1/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Abstract

In a method for avoiding collisions between motor vehicles the distance between a motor vehicle and an obstacle located in front of it is determined by means of a distance measuring device and an alarm measure is triggered in the case of a reduction in the distance. In addition, the behaviour of the motor vehicle itself in terms of a change in speed is taken into account and the alarm measure is only triggered if there is no drop in the speed of the motor vehicle.

Description

Die Erfindung bezieht sich auf ein Verfahren nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a method according to the Preamble of claim 1.

Bei einem derartigen Verfahren, wie es beispielsweise aus der DE 26 42 211 C2 bekannt ist, wird die Annäherungsge­ schwindigkeit an ein anderes Fahrzeug oder Hindernis lau­ fend ermittelt und zur Beeinflussung oder Steuerung des Abstand herangezogen. Dabei soll insbesondere der Abstand selbsttätig verringert werden, wenn eine unzulässige An­ näherung eingetreten ist. Das Eigenverhalten des Kraft­ fahrzeugs wird nur insoweit berücksichtigt, als es für die Berechnung der Annäherungsgeschwindigkeit heran­ gezogen wird. Nicht berücksichtigt wird hingegen, ob die Annäherung dadurch verursacht wird, daß das Kraftfahrzeug mit gleichmäßiger Geschwindigkeit auf ein stehendes oder deutlich langsameres Fahrzeug auffährt oder aber ob das Fahrzeug seinen Abstand verringert, während es bereits selbst gebremst wird. Im letzteren Fall hat der Fahrer selbst bereits einen Bremsvorgang ausgelöst und seine Aufmerksamkeit auf das Verkehrsgeschehen eindeutig er­ höht.In such a method, such as from DE 26 42 211 C2 is known, the Approximation Ge speed to another vehicle or obstacle fend determined and to influence or control the Distance used. In particular, the distance should be be automatically reduced if an impermissible type of approach has occurred. The behavior of the force vehicle is only taken into account insofar as it is for the calculation of the approach speed is pulled. However, it is not considered whether the Approximation is caused by the motor vehicle at a steady speed on a standing or significantly slower vehicle drives up or whether that Vehicle reduces its distance while it is already is braked itself. In the latter case, the driver itself already triggered a braking process and its Attention to the traffic situation clearly he increases.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der eingangs genannten Art zu schaffen, bei dem eine Warnmaßnahme nur ausgelöst wird, wenn dies unbedingt er­ forderlich ist.The invention has for its object a method to create the type mentioned, in which a  Warning measure is only triggered if it is absolutely necessary is required.

Die Erfindung löst diese Aufgabe durch die kennzeichnen­ den Merkmale des Patentanspruchs 1.The invention solves this problem by characterizing the features of claim 1.

Unter Warnmaßnahme ist nicht nur wie beim Stand der Tech­ nik eine selbsttätige geschwindigkeitsverlangsamende Maß­ nahme, sondern auch eine optische oder akustische Warnung oder auch andere Maßnahme zu verstehen, die die Aufmerk­ samkeit des Fahrzeugführers erhöhen. Im Gegensatz zum Stand der Technik wird das Eigenverhalten des Kraftfahrzeugs berücksichtigt. Nähert er sich dem Hindernis mit unverän­ derter Geschwindigkeit an, dürfte seine Aufmerksamkeit reduziert sein. Es ist daher erforderlich, ihn wesentlich früher auf die Gefahr einer Kollision aufmerksam zu ma­ chen als in dem Fall, bei dem er selbst bereits einen Bremsvorgang eingeleitet hat und sich an ein Hindernis annähert. In diesem Fall ist seine Aufmerksamkeit gegen­ über dem normalen Fahrgeschehen erhöht und er besitzt in aller Regel selbst die Möglichkeit, eine Kollision zu vermeiden. Es ist dann nicht mehr erforderlich, ihn auf die Gefahr einer Kollision aufmerksam zu machen.Warning is not just like the state of the art nik an automatic speed-slowing measure but also an optical or acoustic warning or other measure to understand the attention Increase the driver's autonomy. In contrast to the stand The technology becomes the behavior of the motor vehicle considered. He approaches the obstacle with unchanged faster speed, should attract his attention be reduced. It is therefore essential to him to be aware of the risk of a collision earlier than in the case where he already has one Has initiated braking and is facing an obstacle approximates. In this case, his attention is against raised above normal driving and he owns in usually even the possibility of a collision avoid. It is then no longer necessary to open it draw attention to the risk of a collision.

Letzteres gilt natürlich nur, soweit und solange dies ge­ fahrlos möglich ist. Hierzu kann ergänzend die Warnmaß­ nahme erst bei einem Abstand ausgelöst werden, der klei­ ner ist als ein vorgegebener Abstand. Dieser vorgegebene Abstand kann in seinem Wert davon abhängen, ob der Fahr­ zeugbenutzer seine Geschwindigkeit nicht verändert - in diesem Fall ist der Abstand relativ groß -, oder ob er seine Geschwindigkeit tatsächlich verringert, - in diesem Fall kann der kritische Abstand wesentlich kleiner ange­ setzt werden -. The latter of course only applies if and for as long as this is the case is possible without driving. This can be supplemented by the warning measure can only be triggered at a distance that is too small is smaller than a predetermined distance. This given The value of the distance can depend on whether the driving tool user does not change its speed - in In this case, the distance is relatively large - or whether it is its speed actually decreased - in this In this case, the critical distance can be significantly smaller be put -.  

Ergänzend kann auch die Eigengeschwindigkeit des Kraft­ fahrzeugs für die Bemessung dieses Abstands herangezogen werden. Der Abstand wird umso größer gewählt, je größer die Eigengeschwindigkeit ist.In addition, the own speed of the force can also vehicle used to measure this distance become. The greater the distance, the greater the choice is the airspeed.

Ferner kann ergänzend auch die Differenzgeschwindigkeit, d. h. die Annäherungsgeschwindigkeit an das Hindernis be­ rücksichtigt werden. Unter Berücksichtigung der verschie­ denen Einflußgrößen kann der Abstand so bemessen sein, daß erst bei seinem Unterschreiten eine tatsächliche Ge­ fährdung des Fahrzeugbenutzers gegeben ist. Ergänzend kann in die Bemessung des kritischen Abstands auch der voraussichtlich zurückgelegte Weg eingehen, der zwischen dem Auslösen der Warnmaßnahme und der vom Fahrzeugbenut­ zer tatsächlich ergriffenen Maßnahme zur Kollisionsverringerung zurückgelegt wird. Dies gilt selbstverständlich nur dann, wenn der Fahrzeugbenutzer seine Geschwindigkeit noch nicht verringert hat.In addition, the differential speed, d. H. the speed of approach to the obstacle be taken into account. Taking into account the various to which influencing factors the distance can be measured that an actual Ge there is a risk to the vehicle user. Complementary can also be used in the dimensioning of the critical distance expected to go the path between triggering the warning measure and that of the vehicle user the measure actually taken Collision reduction is covered. this applies of course only if the vehicle user has not slowed down yet.

Als Untergrenze für das Auslösen der Warnmaßnahme ist auch bei einer Verringerung der eigenen Geschwindigkeit des Kraftfahrzeugs der Wert des Abstands anzunehmen, in­ nerhalb des Kraftfahrzeug gefahrlos und mit üblicher Ver­ zögerung zum Stehen bzw. in eine Situation gebracht wer­ den kann, bei der eine Kollision mit Sicherheit vermieden wird.As a lower limit for triggering the warning measure even if you slow down of the motor vehicle to assume the value of the distance in within the motor vehicle safely and with usual Ver hesitation to stand or put in a situation that can avoid collision with certainty becomes.

Zusammenfassend ergibt sich durch die Erfindung somit die Möglichkeit, nur in dem Fall eine Warnmaßnahme auszulösen und die Aufmerksamkeit des Fahrzeugbenutzers zu erhöhen, wenn diese aufgrund des eigenen Verhaltens des Fahrzeug­ benutzers oder aber aufgrund einer vom Fahrzeugbenutzer nicht in allen Konsequenzen überschaubaren Verkehrssitua­ tion erforderlich ist.In summary, the invention thus results in Possibility to trigger a warning measure only in this case and to increase the attention of the vehicle user if this is due to the vehicle's own behavior user or based on one of the vehicle user traffic situations are not manageable in all consequences tion is required.

Claims (6)

1. Verfahren zum Vermeiden von Kollisionen von Kraft­ fahrzeugen, bei dem der Abstand eines Kraftfahrzeugs zu einem vorausbefindlichen Hindernis mittels eines Abstandsmeßgeräts bestimmt und bei einer Verringerung des Abstands eine Warnmaßnahme ausgelöst wird, da­ durch gekennzeichnet, daß zusätzlich das eigene Ver­ halten des Kraftfahrzeugs hinsichtlich einer Ge­ schwindigkeitsänderung berücksichtigt wird und daß die Warnmaßnahme nur ausgelöst wird, wenn sich die eigene Geschwindigkeit nicht verringert.1. A method for avoiding collisions of motor vehicles, in which the distance of a motor vehicle to a preceding obstacle is determined by means of a distance measuring device and when the distance is reduced, a warning measure is triggered, since characterized in that in addition the vehicle's own behavior with regard to a Ge speed change is taken into account and that the warning measure is only triggered if your own speed does not decrease. 2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Warnmaßnahme bei einem Abstand ausgelöst wird, der kleiner als ein vorgegebener Abstand ist.2. The method according to claim 1, characterized in that that the warning measure is triggered at a distance that is smaller than a predetermined distance. 3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß der vorgegebene Abstand von der eigenen Geschwin­ digkeit des Kraftfahrzeugs abhängt.3. The method according to claim 2, characterized in that that the given distance from your own speed depend on the motor vehicle. 4. Verfahren nach Anspruch 2 oder 3, dadurch gekenn­ zeichnet, daß der vorgegebene Abstand von der Diffe­ renzgeschwindigkeit zwischen dem Hindernis und dem eigenen Kraftfahrzeug hängt.4. The method according to claim 2 or 3, characterized records that the predetermined distance from the Diffe speed between the obstacle and the own motor vehicle hangs. 5. Verfahren nach einen der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Warnmaßnahme nur ausgelöst wird, wenn der vorgegebener Abstand für eine vorgege­ bene Zeit unterschritten wird. 5. The method according to any one of claims 1 to 4, characterized characterized that the warning measure only triggered if the specified distance for a given time is undershot.   6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß die Warnmaßnahme auch bei einer Verringerung der eigenen Geschwindigkeit nur solange nicht ausgelöst wird, wie dies gefahrlos möglich ist.6. The method according to any one of claims 1 to 5, characterized characterized in that the warning measure even with a Reduce your own speed only as long is not triggered as this can be done safely.
DE4309606A 1993-03-24 1993-03-24 Method for avoiding collisions between motor vehicles Ceased DE4309606A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE4309606A DE4309606A1 (en) 1993-03-24 1993-03-24 Method for avoiding collisions between motor vehicles

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4437365A1 (en) * 1994-10-19 1996-05-02 Telefunken Microelectron Method to detect area in front of car to establish potential hazards
DE4437678A1 (en) * 1994-10-21 1996-05-02 Telefunken Microelectron Method fo regulating distance between motor vehicles
DE19512681A1 (en) * 1995-04-07 1996-10-10 Hipp Johann Safety device for collision avoidance of driverless vehicles
WO1999031639A1 (en) * 1997-12-13 1999-06-24 Arnold Jameson Warning system for detecting approaching objects
DE102004039305A1 (en) * 2004-08-12 2006-03-09 Bayerische Motoren Werke Ag Device for evaluating the attention of a driver in a collision avoidance system in motor vehicles
DE10030421B4 (en) * 1999-06-23 2006-10-05 Honda Giken Kogyo K.K. Vehicle environment monitoring system
DE102005043077A1 (en) * 2005-09-10 2007-03-15 Adc Automotive Distance Control Systems Gmbh Warning signal controlling method for use in vehicle, involves outputting optical warning signals to driver, and suppressing output of warning signal even if given minimum distance for forward-driving vehicle falls below value
DE102005062274A1 (en) * 2005-12-24 2007-06-28 Daimlerchrysler Ag Detection process for impending rear-end impact has delay factor applied to second vehicle, such as relative delay or inherent delay of second vehicle
DE10356500B4 (en) * 2002-12-04 2011-06-22 Toyota Jidosha Kabushiki Kaisha, Aichi-ken Vehicle communication device
DE102012014457A1 (en) * 2012-07-21 2014-01-23 Audi Ag Method for operating a motor vehicle and motor vehicle
DE102013212473A1 (en) * 2013-06-27 2014-12-31 Continental Teves Ag & Co. Ohg Method for the autonomous activation of a system for assisting a driver of a vehicle in the event of a collision
DE10141920B4 (en) * 2000-08-29 2015-04-09 Toyota Jidosha Kabushiki Kaisha Warning device and drive control device with the warning device
CN106894700B (en) * 2017-01-17 2018-01-12 江苏南盐电子商务研究院有限责任公司 The vehicle of electronic transaction verification system based on identification technology is set

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DE3941402A1 (en) * 1989-12-15 1991-06-20 Asea Brown Boveri Collision warning system for vehicle - evaluates transmitted HF signal modulated with information representative of vehicle speed and acceleration
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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4437365C2 (en) * 1994-10-19 2001-05-10 Telefunken Microelectron Method for determining the traffic area in front of a motor vehicle
DE4437365A1 (en) * 1994-10-19 1996-05-02 Telefunken Microelectron Method to detect area in front of car to establish potential hazards
DE4437678B4 (en) * 1994-10-21 2007-07-05 Conti Temic Microelectronic Gmbh Method for adjusting the distance of motor vehicles
DE4437678A1 (en) * 1994-10-21 1996-05-02 Telefunken Microelectron Method fo regulating distance between motor vehicles
DE19512681A1 (en) * 1995-04-07 1996-10-10 Hipp Johann Safety device for collision avoidance of driverless vehicles
WO1999031639A1 (en) * 1997-12-13 1999-06-24 Arnold Jameson Warning system for detecting approaching objects
DE10030421B4 (en) * 1999-06-23 2006-10-05 Honda Giken Kogyo K.K. Vehicle environment monitoring system
DE10141920B4 (en) * 2000-08-29 2015-04-09 Toyota Jidosha Kabushiki Kaisha Warning device and drive control device with the warning device
DE10356500B8 (en) * 2002-12-04 2012-06-14 Toyota Jidosha Kabushiki Kaisha Vehicle communication device
DE10356500B4 (en) * 2002-12-04 2011-06-22 Toyota Jidosha Kabushiki Kaisha, Aichi-ken Vehicle communication device
US7592920B2 (en) 2004-08-12 2009-09-22 Bayerische Motoren Werke Aktiengesellschaft Systems and methods for evaluating driver attentiveness for collision avoidance
DE102004039305A1 (en) * 2004-08-12 2006-03-09 Bayerische Motoren Werke Ag Device for evaluating the attention of a driver in a collision avoidance system in motor vehicles
DE102005043077A1 (en) * 2005-09-10 2007-03-15 Adc Automotive Distance Control Systems Gmbh Warning signal controlling method for use in vehicle, involves outputting optical warning signals to driver, and suppressing output of warning signal even if given minimum distance for forward-driving vehicle falls below value
DE102005062274A1 (en) * 2005-12-24 2007-06-28 Daimlerchrysler Ag Detection process for impending rear-end impact has delay factor applied to second vehicle, such as relative delay or inherent delay of second vehicle
DE102012014457A1 (en) * 2012-07-21 2014-01-23 Audi Ag Method for operating a motor vehicle and motor vehicle
US9564051B2 (en) 2012-07-21 2017-02-07 Audi Ag Method for operating a motor vehicle, in which a user is warned of hazardous situations based on data obtained from outside and inside the vehicle, and motor vehicle operated accordingly
DE102013212473A1 (en) * 2013-06-27 2014-12-31 Continental Teves Ag & Co. Ohg Method for the autonomous activation of a system for assisting a driver of a vehicle in the event of a collision
CN106894700B (en) * 2017-01-17 2018-01-12 江苏南盐电子商务研究院有限责任公司 The vehicle of electronic transaction verification system based on identification technology is set

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