EP0290635A1 - Method for preventing collision between two unmanned vehicles - Google Patents

Method for preventing collision between two unmanned vehicles Download PDF

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Publication number
EP0290635A1
EP0290635A1 EP87106755A EP87106755A EP0290635A1 EP 0290635 A1 EP0290635 A1 EP 0290635A1 EP 87106755 A EP87106755 A EP 87106755A EP 87106755 A EP87106755 A EP 87106755A EP 0290635 A1 EP0290635 A1 EP 0290635A1
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European Patent Office
Prior art keywords
vehicles
vehicle
optical
collision
received
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EP87106755A
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German (de)
French (fr)
Inventor
Wolfgang Dr. Stock
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Carl Schenck AG
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Carl Schenck AG
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Priority to EP87106755A priority Critical patent/EP0290635A1/en
Priority to JP62324189A priority patent/JPS63286914A/en
Publication of EP0290635A1 publication Critical patent/EP0290635A1/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the invention relates to a method for preventing the collision of two unmanned vehicles on roadways and intersections and junctions by means of transmitters and receivers arranged on the vehicles for the detection of obstacles.
  • British patent specification 2 037 015 has made a monitoring device for unmanned vehicles, which are based on a central line made of reflective material, known, in which the safety device transmits and receives ultrasonic signals to the area in front of and behind the vehicle Scans path obstacles.
  • Such a device is limited to objects already present in the area of the roadway.
  • Self-moving objects, such as other vehicles, which approach the carriageway, for example in the case of two intersecting carriageways or in the case of carriageways merging into the current carriageway of the vehicle cannot be recognized by these devices. This means that there is a risk of two vehicles colliding in intersection areas and junction areas of unmanned vehicle lanes.
  • block controls In order to avoid such collisions, block controls have so far been used which only allow one vehicle to enter this area and only allow the next to enter after leaving this area. Such a block control leads to queues in front of such collision areas and thus to a sluggish conveying flow in the case of several unmanned vehicles passing by. A right-of-way regulation at such collision areas also leads to a non-economical flow of funding, since in order to avoid a collision the vehicle that is not authorized to drive in must always stop and can only enter the intersection area on the basis of additional information about the occupancy of the intersection by another vehicle.
  • the object of the present invention is to avoid stopping the unmanned vehicles at collision areas while avoiding such a control center or block route control if there is actually a risk of a collision.
  • This object is achieved with the characterizing features of claim I.
  • the emission of a predetermined frequency by the own vehicle which, however, is not received by the vehicle itself, but the readiness to receive for all other frequencies of the provided optical frequency spectrum, results in an error-free active warning and detection of other vehicles in collision areas. Since the own signal is not received, misinformation, for example due to reflection in the collision area, is also avoided.
  • inventive features of claim 2 can, however, also serve in the embodiment of the subject matter of claim 1, by intersections influenced by extraneous light, for. B. incident sunlight through latticed light wells, fail-safe with a grid.
  • the light emitting the grid can be frequency-modulated, for example a diamond grid with the same grid configuration; or according to the invention the configuration of the grid can be modulated; according to the invention, both measures can also be used simultaneously when projecting a grid.
  • different grids can be assigned to the individual unmanned vehicles, so that a priority is already signaled when driving through an intersection area; For example, unmanned vehicles loaded with dangerous substances can have corresponding optically visible warning grids, e.g. B. send out flames or skull grids.
  • a further embodiment of the inventive method is protected in claim 3.
  • a second vehicle which is also closer to the collision area, for example an intersection, is thereby transmitted onto the first vehicle alerted and it can be concluded according to the invention from the sequence of intermittent emitted optical signals on the speed and the distance of the vehicle not yet at the intersection, so that when comparing with the own distance and the speed of the second vehicle either braking before the intersection can be carried out or acceleration of this vehicle allows passage through the intersection in front of the first vehicle.
  • an optical signal is generated in front of and behind the vehicle at a corresponding safety distance and moving at the same speed as the vehicle by tilting the transmitter for the optical information against the road.
  • the inclination of the optical transmitter and receiver in halls can also be directed against the ceiling.
  • the drawing shows a main route I from a route network, into which two side routes 2 and 3 open.
  • the side section 2 meets the main section 1 at right angles, while the side section 3 opens into the main section I at an acute angle.
  • Traffic is possible in both directions on the main route I and in the side routes 2, 3, the directional lanes being separated from one another by an interrupted median strip 4.
  • Unmanned vehicles 5, 6, 7, 8 and 9 are located on the main route I and the side routes 2, 3.
  • the vehicle 5 can enter the side route 3 from its side route 2 by crossing the main route I or turn right or left continue on the main route I in the corresponding direction.
  • the vehicle 8 on the main route I can turn the side routes 2 or 3 or continue on the main route I.
  • the unmanned vehicles are oriented to broken side strips 10, each vehicle aligning itself with the side strip 10 closest to it.
  • the median strip 4 can be designed as a marking strip for the vehicles traveling in both directions.
  • the median strip 4 becomes the marking strip for all unmanned vehicles 5, 6, 7, 8 and 9 in the simplest way, at least at those points where a delimitation of the lanes for unmanned vehicles is not necessary the route network is much clearer due to the omission of half of all markings, as is the case with hard shoulder guidance.
  • the unmanned vehicles 5, 6, 7, 8, 9 each have at their front and rear ends an optical transmitter 11 with which an optical signal 12 at a certain safety distance in front of and behind the vehicles 5, 6, 7, 8, 9 and 10 strikes a road 13.
  • the safety distance for unmanned vehicles 5, 6, 7, 8, 9 can either be preset or when the optical transmitter is adjusted during A quasi-stationary optical signal 12 can be made visible over a certain time in the intersection area.
  • each optical transmitter 11, two optical receivers 14, 15 work together, which, according to the invention, are oriented such that they sweep over the entire driving space in front of and behind the vehicle and thus can receive optical signals appearing in the driving space from approaching other unmanned vehicles.
  • these optical pickups record all light bundles that penetrate into the driving space and identify them on the basis of a comparison with the frequency spectrum provided as light signals emanating from other unmanned vehicles; even if the optical signals 12 do not strike the roadway 13 as optical markings.
  • the unmanned vehicles 5, 6, 7, 8, 9 are guided by sensors 16 arranged on the vehicles, which use either the median strip 4 as a marker or the side strips 10 as a marker for their orientation.
  • optical pickups 14, 15 inter actuated in the middle these can convey information from the progress of the optical signal 12 and from the increasingly shorter repetition frequency of the optical signal 12 to the computers installed in the unmanned vehicles 5, 6, 7, 8, 9, with the aid of those in the computer the speed and determine the distance of the vehicle approaching the road.
  • evasive movements between the vehicles are thereby also possible, so that the flow of traffic can be increased without congestion.
  • the evasive movements consist of accelerating or decelerating your own vehicle. With very high traffic density, however, impending collisions due to steering movements can also be avoided.

Abstract

In a method for preventing the collision of two unmanned vehicles on carriageways, crossroads and entrances to carriageways by means of transmitters and receivers arranged on the vehicles for detecting obstacles, in order to achieve the object of detecting vehicles not yet located in the driving space, it is proposed that information of a specific frequency is transmitted to the collision points, the frequency transmitted by the transmitter not being received by its own receiver but being received by the receivers of the other vehicles. <IMAGE>

Description

Die Erfindung betrifft ein Verfahren zur Verhinderung der Kollision zweier unbemannter Fahrzeuge auf Fahrbahnen und Fahrbahnkreuzungen und Einmündungen mittels an den Fahrzeugen angeordneter Sender und Empfänger zur Feststellung von Hindernissen.The invention relates to a method for preventing the collision of two unmanned vehicles on roadways and intersections and junctions by means of transmitters and receivers arranged on the vehicles for the detection of obstacles.

Durch die britische Patentschrift 2 037 015 ist eine Überwachungseinrichtung für unbemannte Fahrzeuge, die sich an einem zentralen Strich orientieren, der aus reflektierendem Material besteht, bekannt geworden, bei der die Sicherheitseinrichtung durch Aussenden und empfangen von Ultraschallsignalen den Bereich vor und hinter dem Fahrzeug auf im Wege befindliche Hindernisse abtastet. Eine derartige Einrichtung ist beschränkt auf bereits im Bereich der Fahrbahn vorhandene Gegenstände. Selbstbewegliche Gegenstände, wie andere Fahrzeuge, die sich der Fahrbahn nähern, beispielsweise im Fall zweier sich kreuzender Fahrbahnen oder im Falle von einmündenden Fahrbahnen in die augenblickliche Fahrbahn des Fahrzeugs können durch diese Einrichtungen nicht erkannt werden. Damit ist die Gefahr der Kollision zweier Fahrzeuge in Kreuzungsbereichen und Einmündungsbereichen von Fahrbahnen unbemannter Fahrzeuge gegeben. Um solche Kollisionen zu vermeiden, werden bisher Blocksteuerungen verwandt, die es nur einem Fahrzeug gestatten, in diesen Bereich einzufahren und erst nach Verlassen dieses Bereichs dem nächsten die Einfahrt gestatten. Eine derartige Blocksteuerung führt bei mehreren vorbeifahrenden unbemannten Fahrzeugen zu Warteschlangen vor derartigen Kollisionsbereichen und damit zu einem trägen Förderfluß. Eine Vorfahrtsregelung an derartigen Kollisionsbereichen führt ebenfalls zu einem nicht wirtschaftlichen Förderfluß, da zur Vermeidung von Kollision grundsätzlich das nicht vorfahrtberechtigte Fahrzeug anhalten muß und erst auf Grund zusätzlicher Informationen über die Belegung der Kreuzung durch ein anderes Fahrzeug in den Kreuzungsbereich einfahren kann. Bei großen Förderstraßennetzen wie beispielsweise Lagern für die Montagebänder für Kraftfahrzeuge oder der Vorfeldbereich von Flughäfen einschließlich den hierzu gehörenden Umschlaganlagen führt dies zu einem beachtlichen Steuerungsaufwand, der sich negativ auf die Wirtschaftlichkeit für den Einsatz derartiger unbemannter Fahrzeuge in solchen Straßennetzen auswirkt. Denn hierzu gehört zwangsläufig ein zentraler Leitstand, dem alle Fahrzeugbewegungen mitgeteilt werden und der hieraus entscheidet, welches Fahrzeug mit welcher Fracht Vorrang hat.British patent specification 2 037 015 has made a monitoring device for unmanned vehicles, which are based on a central line made of reflective material, known, in which the safety device transmits and receives ultrasonic signals to the area in front of and behind the vehicle Scans path obstacles. Such a device is limited to objects already present in the area of the roadway. Self-moving objects, such as other vehicles, which approach the carriageway, for example in the case of two intersecting carriageways or in the case of carriageways merging into the current carriageway of the vehicle, cannot be recognized by these devices. This means that there is a risk of two vehicles colliding in intersection areas and junction areas of unmanned vehicle lanes. In order to avoid such collisions, block controls have so far been used which only allow one vehicle to enter this area and only allow the next to enter after leaving this area. Such a block control leads to queues in front of such collision areas and thus to a sluggish conveying flow in the case of several unmanned vehicles passing by. A right-of-way regulation at such collision areas also leads to a non-economical flow of funding, since in order to avoid a collision the vehicle that is not authorized to drive in must always stop and can only enter the intersection area on the basis of additional information about the occupancy of the intersection by another vehicle. In the case of large conveyor road networks, such as bearings for the assembly lines for motor vehicles or the apron area of airports, including the associated handling facilities, this leads to a considerable control effort, which has a negative impact on the economy for the use of such unmanned vehicles in such road networks. Because this inevitably includes a central control center, to which all vehicle movements are communicated, and which uses this to decide which vehicle with which freight has priority.

Ausgehend von dem zunächst genannten Stand der Technik liegt der vorliegenden Erfindung die Aufgabe zugrunde, unter Vermeidung eines derartigen Leitstandes oder einer Blockstreckensteuerung die unbemannten Fahrzeuge an Kollisionsbereichen nur dann anzuhalten, wenn tatsächlich die Gefahr einer Kollision besteht. Diese Aufgabe wird mit den kennzeichnenden Merkmalen des Anspruchs I gelöst. Durch die Ausstrahlung einer vorgegebenen Frequenz durch das eigene Fahrzeug, die jedoch vom Fahrzeug selbst nicht empfangen wird, jedoch die Empfangsbereitschaft für alle anderen Frequenzen des bereitgestellten optischen Frequenzspektrums wird eine fehlerfreie aktive Warnung und Erkennung anderer Fahrzeuge in Kollisionsbereichen erreicht. Da das eigene Signal nicht empfangen wird, werden auch Fehlinformationen, beispielsweise durch Spiegelung im Kollisionsbereich vermieden.Starting from the initially mentioned prior art, the object of the present invention is to avoid stopping the unmanned vehicles at collision areas while avoiding such a control center or block route control if there is actually a risk of a collision. This object is achieved with the characterizing features of claim I. The emission of a predetermined frequency by the own vehicle, which, however, is not received by the vehicle itself, but the readiness to receive for all other frequencies of the provided optical frequency spectrum, results in an error-free active warning and detection of other vehicles in collision areas. Since the own signal is not received, misinformation, for example due to reflection in the collision area, is also avoided.

Die der Erfindung zugrundeliegende Aufgabe läßt sich auch mit den erfinderischen Merkmalen des Anspruchs 2 lösen. Durch das Projizieren eines Rasters auf die Fahrbahn, wird ein eindeutiges Signal für andere Fahrzeuge im Kreuzungsbereich gesetzt, ohne daß der eigene Aufnehmer irregeführt wird.The problem underlying the invention can also be solved with the inventive features of claim 2. By projecting a grid onto the road, a clear signal is set for other vehicles in the intersection area without the own sensor being misled.

Die erfinderischen Merkmale des Anspruchs 2 können jedoch auch in Ausgestaltung des Erfindungsgegenstandes nach Anspruch 1 dazu dienen, durch fremdlichtbeeinflußte Kreuzungen, z. B. einfallendes Sonnenlicht durch vergitterte Lichtschächte, fehlersicher mit einem Raster zu belegen. Dabei kann erfindungsgemäß das das rasterausstrahlende Licht frequenzmoduliert sein, bei gleicher Konfiguration des Rasters beispielsweise einem Rautenraster; oder es kann erfindungsgemäß die Konfiguration des Rasters moduliert sein; auch können erfindungsgemäß beide Maßnahmen gleichzeitig bei der Projizierung eines Rasters angewandt werden. In noch weiterer Ausgestaltung des Erfindungsgegenstandes können den einzelnen unbemannten Fahrzeugen verschiedene Raster zugeordnet werden, so daß hierdurch bereits eine Priorität beim Durchfahren eines Kreuzungsbereichs signalisiert wird; beispielsweise mit gefährlichen Stoffen beladene unbemannte Fahrzeuge können entsprechende optisch sichtbare Warnraster, z. B. Flammen oder Totenkopfraster aussenden.The inventive features of claim 2 can, however, also serve in the embodiment of the subject matter of claim 1, by intersections influenced by extraneous light, for. B. incident sunlight through latticed light wells, fail-safe with a grid. According to the invention, the light emitting the grid can be frequency-modulated, for example a diamond grid with the same grid configuration; or according to the invention the configuration of the grid can be modulated; according to the invention, both measures can also be used simultaneously when projecting a grid. In yet another embodiment of the subject matter of the invention, different grids can be assigned to the individual unmanned vehicles, so that a priority is already signaled when driving through an intersection area; For example, unmanned vehicles loaded with dangerous substances can have corresponding optically visible warning grids, e.g. B. send out flames or skull grids.

Eine weitere Ausgestaltung des erfinderischen Verfahrens wird in Anspruch 3 unter Schutz gestellt. Durch die bei Annäherung an einen Kollisionsbereich in immer kürzeren Zeitabständen erfolgende intermittierende Aussendung der optischen nformation wird allein hierdurch ein sich ebenfalls dem Kollisionsbereich, beispielsweise einer Kreuzung näheres zweites Fahrzeug auf das erste Fahrzeug aufmerksam gemacht und es kann erfindungsgemäß aus der Folge der intermittierenden abgege benen optischen Signale auf die Geschwindigkeit und die Entfernung des noch nicht auf der Kreuzung befindlichen Fahrzeugs geschlossen werden, so daß bei einem Vergleich mit der eigenen Entfernung und der Geschwindigkeit des zweiten Fahrzeugs entweder einer Bremsung vor der Kreuzung durchgeführt werden kann oder durch Beschleunigung dieses Fahrzeugs ein Passieren der Kreuzung vor dem ersten Fahrzeug ermöglicht werden kann. In noch weiterer Ausgestaltung des Erfindungsgegenstandes wird gemäß Anspruch 4 durch Neigen des Senders für die optische Information gegen die Fahrbahn ein vor und hinter dem Fahrzeug in entsprechendem Sicherheitsabstand auftreffendes und mit derselben Geschwindigkeit wie das Fahrzeug sich bewegendes, optisches Signal erzeugt. Auch hiermit kann bei Kenntnis des Neigungswinkels des Senders zur Fahrbahn die Entfernung und die Geschwindigkeit des sich nähernden Fahrzeugs bestimmt werden, wenn der Empfänger am anderen Fahrzeug intermittierend die optische Information und damit deren Fortschreiten auf der Fahrbahn aufnimmt.A further embodiment of the inventive method is protected in claim 3. As a result of the intermittent transmission of the optical information which occurs at ever shorter intervals when a collision area is approached, a second vehicle which is also closer to the collision area, for example an intersection, is thereby transmitted onto the first vehicle alerted and it can be concluded according to the invention from the sequence of intermittent emitted optical signals on the speed and the distance of the vehicle not yet at the intersection, so that when comparing with the own distance and the speed of the second vehicle either braking before the intersection can be carried out or acceleration of this vehicle allows passage through the intersection in front of the first vehicle. In yet another embodiment of the subject matter of the invention, an optical signal is generated in front of and behind the vehicle at a corresponding safety distance and moving at the same speed as the vehicle by tilting the transmitter for the optical information against the road. With this, too, the distance and the speed of the approaching vehicle can be determined if the transmitter's angle of inclination to the road is known, if the receiver on the other vehicle intermittently records the optical information and thus its progression on the road.

Erfindungsgemäß kann die Neigung des optischen Senders und Empfängers in Hallen auch gegen die Decke gerichtet sein.According to the invention, the inclination of the optical transmitter and receiver in halls can also be directed against the ceiling.

In noch weiterer Ausgestaltung des Erfindungsgegenstandes wird es ermöglicht, daß bei Annäherung des fahrenden unbemannten Fahrzeugs durch Änderung der Neigung des Senders eine optische Information auf den möglichen Kollisionsort fixiert wird, so daß andere, sich nähernde Fahrzeuge rechtzeitig eine Kreuzungsbelegung erkennen können. Eine derartige Verfahrensweise ist dann angebracht, wenn ein unbemanntes Fahrzeug, beispielsweise mit gefährlichen Gütern oder sperrigen Gütern sich einem Kollisionsbereich nähert, um einen Sicherheitsabstand mit anderen Fahrzeugen in diesem Bereich einhalten zu können.In a further embodiment of the subject matter of the invention it is possible that when the unmanned vehicle is approaching, changing the inclination of the transmitter fixes visual information on the possible collision location so that other approaching vehicles can recognize an intersection in good time. Such a procedure is appropriate when an unmanned vehicle, for example with dangerous goods or bulky goods, approaches a collision area in order to be able to maintain a safety distance with other vehicles in this area.

In der nachfolgenden Zeichnung wird die Erfindung anhand eines Ausführungsbeispiels näher erläutert.In the following drawing, the invention is explained in more detail using an exemplary embodiment.

In der Zeichnung ist aus einem Streckennetz eine Hauptstrecke I dargestellt, in die zwei Seitenstrecken 2 und 3 einmünden. Die Seitenstrecke 2 stößt rechtwinklig auf die Hauptstrecke 1, während die Seitenstrecke 3 in einem spitzen Winkel in die Hauptstrecke I einmündet. Auf der Hauptstrecke I und in den Seitenstrecken 2, 3 ist ein Verkehr in beiden Richtungen möglich, wobei die Richtungsfahrbahnen durch einen unterbrochenen Mittelstreifen 4 voneinander getrennt sind. Auf der Hauptstrecke I und den Seitenstrecken 2, 3 befinden sich unbemannte Fahrzeuge 5, 6, 7, 8 und 9. Das Fahrzeug 5 kann aus seiner Seitenstrecke 2 unter Überquerung der Hauptstrecke I in die Seitenstrecke 3 einfahren oder auch durch rechts oder links abbiegen auf der Hauptstrecke I in der entsprechenden Richtung weiterfahren. Das Fahrzeug 8 auf der Hauptstrecke I kann die Seitenstrecken 2 oder 3 abbiegen oder auf der Hauptstrecke I weiterfahren. Die unbemannten Fahrzeuge orientieren sich erfindungsgemäß an unterbrochenen Seitenstreifne 10, wobei sich jedes Fahrzeug zu dem ihm nächsten Seitenstreifen 10 ausrichtet.The drawing shows a main route I from a route network, into which two side routes 2 and 3 open. The side section 2 meets the main section 1 at right angles, while the side section 3 opens into the main section I at an acute angle. Traffic is possible in both directions on the main route I and in the side routes 2, 3, the directional lanes being separated from one another by an interrupted median strip 4. Unmanned vehicles 5, 6, 7, 8 and 9 are located on the main route I and the side routes 2, 3. The vehicle 5 can enter the side route 3 from its side route 2 by crossing the main route I or turn right or left continue on the main route I in the corresponding direction. The vehicle 8 on the main route I can turn the side routes 2 or 3 or continue on the main route I. According to the invention, the unmanned vehicles are oriented to broken side strips 10, each vehicle aligning itself with the side strip 10 closest to it.

Erfindungsgemäß kann jedoch der Mittelstreifen 4 als Markierungsstreifen für die in beiden Richtungen fahrenden Fahrzeuge ausgebildet sein. Hiermit wird zumindest an den Stellen, an denen aus Sicherheitsgründen eine Abgrenzung der Fahrbahnen für unbemannte Fahrzeuge nicht erforderlich ist, in einfachster Weise der Mittelstreifen 4 zum Markierungsstreifen für alle auf diesem Streckennetz verkehrenden unbemannten Fahrzeuge 5, 6, 7, 8 und 9. Hierdurch wird das Streckennetz durch Wegfall der Hälfte aller Markierungen, wie es bei der Seitenstreifenführung ist, wesentlich übersichtlicher.According to the invention, however, the median strip 4 can be designed as a marking strip for the vehicles traveling in both directions. In this way, the median strip 4 becomes the marking strip for all unmanned vehicles 5, 6, 7, 8 and 9 in the simplest way, at least at those points where a delimitation of the lanes for unmanned vehicles is not necessary the route network is much clearer due to the omission of half of all markings, as is the case with hard shoulder guidance.

Die unbemannten Fahrzeuge 5, 6, 7, 8, 9 tragen an ihrem vorderen und rückwärtigen Ende je einen optischen Sender 11, mit dem ein optisches Signal 12 in einem bestimmten Sicherheitsabstand vor und hinter den Fahrzeugen 5, 6, 7, 8, 9 und 10 auf einer Fahrbahn 13 auftrifft.The unmanned vehicles 5, 6, 7, 8, 9 each have at their front and rear ends an optical transmitter 11 with which an optical signal 12 at a certain safety distance in front of and behind the vehicles 5, 6, 7, 8, 9 and 10 strikes a road 13.

Durch Neigen des optischen Senders um die Hochachse der Fahrzeuge 5, 6, 7, 8, 9 kann zum einen der Sicherheitsabstand für die unbemannten Fahrzeuge 5, 6, 7, 8, 9 entweder fest voreingestellt werden oder bei einer Verstellung des optischen Senders während der Fahrt ein quasi stationäres, optisches Signal 12 über eine bestimmte Zeit im Kreuzungsbereich sichtbar gemacht werden.By tilting the optical transmitter around the vertical axis of vehicles 5, 6, 7, 8, 9, on the one hand, the safety distance for unmanned vehicles 5, 6, 7, 8, 9 can either be preset or when the optical transmitter is adjusted during A quasi-stationary optical signal 12 can be made visible over a certain time in the intersection area.

Erfindungsgemäß arbeiten mt jedem optischen Sender 11 zwei optische Empfänger 14, 15 zusammen, die erfindungsgemäß so ausgerichtet sind, daß sie den gesamten Fahrraum vor und hinter dem Fahrzeug überstreichen und somit im Fahrraum erscheinende optische Signale von sich nähernden anderen unbemannten Fahrzeugen aufnehmen können. Erfindungsgemäß werden von diesen optischen Aufnehmern alle Lichtbündelungen, die in den Fahrraum eindringen, aufgenommen und anhand eines Vergleichs mit dem bereitgestellten Frequenzspektrum erkannt als von anderen unbemannten Fahrzeugen ausgehenden Lichtsignale; auch dann wenn die optischen Signale 12 nicht als optische Markierungen auf der Fahrbahn 13 auftreffen.According to the invention, with each optical transmitter 11, two optical receivers 14, 15 work together, which, according to the invention, are oriented such that they sweep over the entire driving space in front of and behind the vehicle and thus can receive optical signals appearing in the driving space from approaching other unmanned vehicles. According to the invention, these optical pickups record all light bundles that penetrate into the driving space and identify them on the basis of a comparison with the frequency spectrum provided as light signals emanating from other unmanned vehicles; even if the optical signals 12 do not strike the roadway 13 as optical markings.

Die Führung der unbemannten Fahrzeuge 5, 6, 7, 8, 9 geschieht durch an den Fahrzeugen angeordnete Sensoren 16, die entweder den Mittelstreifen 4 als Markierung oder die Seitenstreifen 10 als Markierung für ihre Orientierung benutzen.The unmanned vehicles 5, 6, 7, 8, 9 are guided by sensors 16 arranged on the vehicles, which use either the median strip 4 as a marker or the side strips 10 as a marker for their orientation.

Werden die optischen Aufnehmer 14, 15 intermittierend betätigt, so können diese aus dem Fortschreiten des optischen Signals 12 und durch die immer kürzer werdende Folgefrequenz des optischen Signals 12 den in den unbemannten Fahrzeugen 5, 6, 7, 8, 9 eingebauten Rechnern Informationen zuleiten mit Hilfe derer im Rechner die Geschwindigkeit und die Entfernung des sich der Fahrbahn nähernden Fahrzeug bestimmen.Are the optical pickups 14, 15 inter actuated in the middle, these can convey information from the progress of the optical signal 12 and from the increasingly shorter repetition frequency of the optical signal 12 to the computers installed in the unmanned vehicles 5, 6, 7, 8, 9, with the aid of those in the computer the speed and determine the distance of the vehicle approaching the road.

Erfindungsgemäß werden hierdurch auch Ausweichbewegungen zwischen den Fahrzeugen möglich, so daß der Verkehrsfluß ohne Stauung erhöht werden kann. Im einfachsten Falle bestehen die Ausweichbewegungen durch entsprechende Beschleunigung oder Verzögerung des eigenen Fahrzeugs. Bei sehr hoher Verkehrsdichte können jedoch auch durch Lenkbewegungen drohende Kollisionen vermieden werden.According to the invention, evasive movements between the vehicles are thereby also possible, so that the flow of traffic can be increased without congestion. In the simplest case, the evasive movements consist of accelerating or decelerating your own vehicle. With very high traffic density, however, impending collisions due to steering movements can also be avoided.

Claims (5)

I. Verfahren zur Verhinderung der Kollision zweier unbemannter Fahrzeuge auf Fahrbahnen, Fahrbahnkreuzungen und Einmündungen mittels an den Fahrzeugen angeordneter Sender und Empfänger zur Feststellung von Hindernissen, dadurch gekennzeichnet, daß zur gegenseitigen der Fahrzeuge von jedem Fahrzeug aus einem hierfür bereitgestellten optischen Frequenzspektrum eine vorgegebene Frequenz, insbesondere in Fahrtrichtung ausgestrahlt wird, die vom eigenen Empfän-' ger nicht empfangen wird und daß das übrige bereitgestellte optische Frequenzspektrum empfangen wird.I. Method for preventing the collision of two unmanned vehicles on roadways, road intersections and junctions by means of transmitters and receivers arranged on the vehicles for the detection of obstacles, characterized in that a predetermined frequency is provided by each vehicle from an optical frequency spectrum provided for this purpose, which is not received 'ger from its own receivers and that the rest of the provided optical frequency spectrum is received is broadcast in particular in the direction of travel. 2. Verfahren zur Verhinderung der Kollision zweier unbemannter Fahrzeuge auf Fahrbahnen, Fahrbahnkreuzungen und Einmündungen mittels an den Fahrzeugen angeordneter Sender und Empfänger zur Feststellung von Hindernissen, insbesondere nach Anspruch I, dadurch gekennzeichnet, daß zur gegenseitigen Erkennung der Fahrzeuge von jedem Fahrzeug aus ein optisch sichtbares Raster, insbesondere in Fahrtrichtung projiziert wird, daß während des Projizierens vom eigenen Empfänger kein Signal empfangen wird, und daß außerhalb der Projizierung des eigenen Rasters die Raster anderer Fahrzeuge empfangen werden.2. A method for preventing the collision of two unmanned vehicles on roadways, road intersections and junctions by means of transmitters and receivers arranged on the vehicles for the detection of obstacles, in particular according to claim I, characterized in that for the mutual recognition of the vehicles from each vehicle an optically visible Grid, especially in the direction of travel is projected that no signal is received by the own receiver during projecting, and that the grids of other vehicles are received outside the projection of the own grid. 3. Verfahren nach Anspruch I oder 2, dadurch gekennzeichnet, daß bei Annäherung an einen Kollisionsbereich die Aussendung der optischen Information bestimmter Frequenz intermittierend in immer kürzer werdenden Zeitabständen erfolgt.3. The method according to claim I or 2, characterized in that when approaching a collision area, the transmission of the optical information of a specific frequency takes place intermittently at increasingly shorter time intervals. 4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die optische Informa tion bestimmter Frequenz unter einem bestimmten Winkel vom Fahrzeug abgestrahlt wird und daß die optische Information im wesentlichen in Fahrtrichtung vor oder hinter dem Fahrzeug in einem Streifen auf die Fahrbahn auftrifft.4. The method according to any one of the preceding claims, characterized in that the optical informa tion of certain frequency is emitted at a certain angle from the vehicle and that the optical information strikes the road in front of or behind the vehicle in a strip in a direction substantially. 5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, daß durch Änderung der Neigung der Ausstrahlung bei bewegtem Fahrzeug der optische Streifen auf der Fahrbahn im Kollisionsbereich über einen längeren Zeitraum als stehend erscheint.5. The method according to claim 4, characterized in that by changing the inclination of the radiation when the vehicle is moving, the optical stripe appears on the road in the collision area over a longer period of time as standing.
EP87106755A 1987-05-09 1987-05-09 Method for preventing collision between two unmanned vehicles Withdrawn EP0290635A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP87106755A EP0290635A1 (en) 1987-05-09 1987-05-09 Method for preventing collision between two unmanned vehicles
JP62324189A JPS63286914A (en) 1987-05-09 1987-12-23 Prevention of collision for two unmanned mobile

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EP87106755A EP0290635A1 (en) 1987-05-09 1987-05-09 Method for preventing collision between two unmanned vehicles

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EP0290635A1 true EP0290635A1 (en) 1988-11-17

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EP (1) EP0290635A1 (en)
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DE3910537A1 (en) * 1989-04-01 1990-10-04 Jungheinrich Kg Method for collision avoidance in systems with driverless vehicles and vehicle equipment for vehicles for carrying out the method
CN110196056A (en) * 2018-03-29 2019-09-03 文远知行有限公司 For generating the method and navigation device that are used for the road-map of automatic driving vehicle navigation and decision

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DE1929587B2 (en) * 1969-06-11 1979-09-20 Ludwig Prof. Dr. 6900 Heidelberg Wesch Collision warning system for vehicles or missiles with infrared radiation source and response infrared radiation receiver
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3910537A1 (en) * 1989-04-01 1990-10-04 Jungheinrich Kg Method for collision avoidance in systems with driverless vehicles and vehicle equipment for vehicles for carrying out the method
CN110196056A (en) * 2018-03-29 2019-09-03 文远知行有限公司 For generating the method and navigation device that are used for the road-map of automatic driving vehicle navigation and decision
CN110196056B (en) * 2018-03-29 2023-12-05 文远知行有限公司 Method and navigation device for generating a road map for automatic driving vehicle navigation and decision-making

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