EP1523688A1 - Device for monitoring the surroundings of a vehicle - Google Patents

Device for monitoring the surroundings of a vehicle

Info

Publication number
EP1523688A1
EP1523688A1 EP03763577A EP03763577A EP1523688A1 EP 1523688 A1 EP1523688 A1 EP 1523688A1 EP 03763577 A EP03763577 A EP 03763577A EP 03763577 A EP03763577 A EP 03763577A EP 1523688 A1 EP1523688 A1 EP 1523688A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
objects
evaluation module
sensor system
reversible
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
EP03763577A
Other languages
German (de)
French (fr)
Inventor
Alfred Kuttenberger
Dirk Weber
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1523688A1 publication Critical patent/EP1523688A1/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
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B60R2021/01265—Seat belts
    • B60R2021/01272—Belt tensioners
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/588—Velocity or trajectory determination systems; Sense-of-movement determination systems deriving the velocity value from the range measurement
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • 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

Definitions

  • the invention relates to a device for environmental monitoring in a vehicle according to the preamble of the independent claim.
  • a device for environmental monitoring in a vehicle which has an environmental sensor system with a predetermined detection range, an evaluation module for evaluating a signal of the environmental sensor system being present.
  • the device according to the invention for monitoring the environment in a vehicle with the features of the independent patent claim has the advantage that the selection of objects through an environment and situation interpretation limits the environment sensors to precrass-relevant objects. This selection is advantageous in order to only report objects that could actually lead to an accident. There is thus a better differentiation between crash-relevant and non-crash-relevant objects, so that misuse cases in particular are avoided.
  • the parameters according to which the device according to the invention selects the relevant objects are the relative speed between the vehicle and the respective object, the direction of the relative speed and the curve radius, and the type of traffic.
  • the type of traffic means, for example, whether there is right-hand or left-hand traffic.
  • the starting point is a sensor system with one or more sensors that continuously detect objects.
  • the detection area has a fixed aperture angle and a fixed range. Sometimes a large number of objects can be detected that are in the detection range of the sensor system.
  • the attention window is also based on the probability of occurrence of objects in this area.
  • the distance in front of the vehicle depends on the relative speed, in special cases only the vehicle speed when the time is fixed.
  • a reversible belt tensioner always has the same activation time. Accordingly, the attention window at larger speeds must also be larger in the x direction in order to provide the restraining means with the corresponding time in a larger area by object tracking.
  • the attention window in the y direction i.e. in the transverse direction, depends on the relative speed between the vehicle and the object. At high speeds, the likelihood of objects approaching the vehicle at a larger angle of entry is quite low. Accordingly, the attention window in the y direction can be chosen to be smaller.
  • the attention window in the y direction is a function of the curve radius.
  • a small curve radius requires a large attention window in the y direction.
  • the evaluation unit of the device according to the invention can be connected to at least one restraint, the evaluation unit controlling the at least one restraint as a function of the tracking of the at least one object.
  • the evaluation unit generates a control signal to trigger the corresponding restraint devices.
  • the restraining means are designed to be reversible or at least partially reversible. These include, in particular, reversible belt tensioners or an extendable bumper.
  • FIG. 1 shows a block diagram of the device according to the invention
  • FIG. 2 shows two situations for the functioning of the invention
  • FIG. 1 shows the device according to the invention in a block diagram.
  • a sensor system. 1 is connected to an evaluation unit 2 via a data output.
  • the evaluation unit 2 is connected to a control device for restraint means 3 via a data input / output.
  • This control unit 3 is in turn connected to a reversible belt tensioner 4 via a first data output, to an extendable bumper 5 via a second data output and to airbags 6 in the vehicle via a third data output.
  • the sensors 1 are distance sensors, which means that they include environment sensors such as video, radar, ultrasound or infrared sensors that are suitable for monitoring the environment.
  • the control unit 3 is connected to impact sensors, not shown here, which detect an actual crash. It will then mostly be acceleration sensors, but deformation sensors can also be used here.
  • the sensor system 1 already supplies a digital data stream to the evaluation module 2.
  • the sensor system 1 has a signal processing unit and an analog-digital converter.
  • the evaluation module 2 can be a processor or dedicated hardware, that is to say an integrated circuit manufactured for this purpose.
  • the sensor system 1 and the evaluation module 2 can both be arranged in one housing.
  • the sensor system 1 is arranged remote from the evaluation module 2, for example by different ones To connect video sensors that are attached to the vehicle with only one evaluation module 2.
  • a remote connection it is possible that either each individual sensor of the sensor system 1 is connected to the evaluation module 2 via a two-wire line, or that an entire sensor bus is used to connect the individual sensors of the sensor system 1 to the evaluation module 2, for example as a bus -Master to connect.
  • the connection can be realized electrically, optically or via radio waves. If the evaluation module 2 is set apart from the sensor system 1, then this evaluation module 2 acts like a control unit and can optionally also be arranged with the control unit 3 in a housing.
  • the evaluation module 2 and the control unit 3 are arranged in different housings, then the connection between them is realized either by a two-wire line or again by a bus that connects several control units to one another.
  • the control unit 3 itself calculates the triggering algorithm for the restraint means 4, 5 and 6.
  • the signal from the sensor system 1 is also used in order to trigger reversible restraint means such as the belt tensioner 4 and the extendable bumper 5 even before the impact.
  • An adaptive airbag that is inflated relatively softly, i.e. with a short inflation time, can also be triggered early before the actual crash occurs.
  • Other parameters that are included in the triggering algorithm are the signals from the impact sensors, that is to say, for example, as shown above, the acceleration sensors.
  • the evaluation unit 2 now selects the objects from the objects detected by the sensor system 1 which, taking into account parameters such as the relative speed between these objects and the vehicle, their direction and the driving situation as well as the road surface could be relevant for an accident.
  • the available resources are used for the potentially dangerous objects and not on the safe objects, so that there is no loss of performance due to a large number of objects.
  • the selection of objects prevents the occurrence of so-called misuse cases, i.e. non-triggering cases, which trigger, however.
  • the selected objects are then tracked with the sensor system 1. If the evaluation module 2 detects that a tracked object is less than a predetermined distance from the vehicle, then a signal is transmitted to the control unit 3 that the restraining means that are to be triggered first are to be triggered. This includes especially reversible belt tensioners. This predetermined distance around the vehicle is therefore a time limit for the use of such restraint devices. However, even after this distance has been fallen short of, the object continues to be tracked in order to be able to make precise statements about a possible future crash course in order to achieve an adaptive use of restraint devices. Several such distance values can be specified in order to determine an optimal point in time for the release of these retention means for the respective retention means depending on their release times.
  • FIG. 2 now shows two typical situations for the use of the device according to the invention in partial images A and B.
  • a vehicle 7 has a detection area 8 via its sensor system 1, which is continuously monitored by the sensor system, for example radar. If the vehicle 10 now enters the detection area 8, this is recognized by the sensor system 1, and parameters such as the relative speed and their direction to the vehicle 7 are determined. Depending on these parameters, an attention area 9 is defined with a predetermined distance 13, below which the restraint means, such as the reversible belt tensioner 4, are triggered by the vehicle 10. The vehicle speed is much higher in FIG. 2a than in FIG. 2b, so that the attention area 9 extends to the outer limit of the detection area 8.
  • a vehicle 15 now has a sensor system 1, again with the detection area 8 and the attention area 12.
  • the distance limit 14 is defined, below which the reversible belt tensioner 4 is triggered.
  • the vehicle 11 traverses the direction of travel of its own vehicle.
  • the relative speed between vehicles 15 and 11 is significantly lower here than in FIG. 2a between vehicles 7 and 10. Therefore, attention area 12 can be significantly smaller than attention area 9.
  • FIG. 3 shows a flowchart of the method that runs on the device according to the invention, in particular on the evaluation module 2.
  • object in the detection area 9 are detected with the aid of the sensor system 1 and the evaluation module 2.
  • the parameter determination is then carried out in method step 21, the relative speed between one's own vehicle and the objects being determined here. Also the direction of the Relative speed is determined here in order to be able to estimate whether a collision is imminent.
  • Other parameters that are included here are the curve radius and the type of traffic, for example right-hand or left-hand traffic.
  • Other data such as the driving behavior of the other objects can also be included here as parameters.
  • the individual parameters are weighted in order to make a statement, namely in method step 22 which objects are relevant and in method step 23 must be subjected to target tracking in order to trigger the restraint means as early as possible in the event of a possible crash.
  • method step 24 it is then monitored whether the objects being tracked are highly likely to cause a collision with one's own vehicle. This is monitored on the basis of the predetermined distances 13 and 14, specifically by falling below them. If the vehicle falls short of such a safety distance, then a jump is made to step 25 after step 24 in order to trigger the corresponding restraint means, which is linked to the falling below this distance value. If, however, there is no possible collision due to a test in method step 24, the object is further followed in method step 23.
  • Several objects can be tracked at the same time, but this number should be as small as possible in order to achieve effective resource utilization of the existing hardware and software. An excessive number of objects to be tracked would significantly reduce the response time of the device according to the invention.

Abstract

Disclosed is a device for monitoring the surroundings of a vehicle, which is characterized by the fact that objects are selected in a detection range of the sensor unit according to parameters such that only the selected objects are tracked by the sensor unit, allowing the adaptive use of restraint means, particularly reversible ones.

Description

Vorrichtung zur Umfeldüberwachung in einem FahrzeugDevice for monitoring the environment in a vehicle
Stand der TechnikState of the art
Die Erfindung geht aus von einer Vorrichtung zur Umfeldüberwachung in einem Fahrzeug nach der Gattung des unabhängigen Patentanspruchs.The invention relates to a device for environmental monitoring in a vehicle according to the preamble of the independent claim.
Aus EP 550 852 AI ist eine Vorrichtung zur Umfeldüberwachung in einem Fahrzeug bekannt, die eine Umfeldsensorik mit einem vorgegebenen Detektionsbereich aufweist, wobei ein Auswertebaustein zur Auswertung eines Signals der Umfeldsensorik vorhanden ist.From EP 550 852 AI a device for environmental monitoring in a vehicle is known which has an environmental sensor system with a predetermined detection range, an evaluation module for evaluating a signal of the environmental sensor system being present.
Vorteile der ErfindungAdvantages of the invention
Die erfindungsgemäße Vorrichtung zur Umfeldüberwachung in einem Fahrzeug mit den Merkmalen des unabhängigen Patentanspruchs hat demgegenüber den Vorteil, dass durch eine Objektauswahl durch eine Umfeld- und Situationsinterpretation die Umfeldsensorik sich auf precrashrelevante Objekte einschränkt. Diese Auswahl ist vorteilhaft, um nur solche Objekte zu melden, welche wirklich zu einem Unfall führen könnten. Somit liegt eine bessere Differenzierung von crashrelevanten und nicht crashrelevanten Objekten vor, so dass insbesondere Misuse-Fälle vermieden werden.The device according to the invention for monitoring the environment in a vehicle with the features of the independent patent claim has the advantage that the selection of objects through an environment and situation interpretation limits the environment sensors to precrass-relevant objects. This selection is advantageous in order to only report objects that could actually lead to an accident. There is thus a better differentiation between crash-relevant and non-crash-relevant objects, so that misuse cases in particular are avoided.
Durch die in den abhängigen Ansprüchen aufgeführten Maßnahmen und Weiterbildungen sind vorteilhafte Verbesserungen der im unabhängigen Patentanspruch angegebenen Vorrichtung zur Umfeldüberwachung in einem Fahrzeug möglich. Besonders vorteilhaft ist, dass die Parameter, nach denen die erfindungsgemäße Vorrichtung die relevanten Objekte auswählt, die Relativgeschwindigkeit zwischen dem Fahrzeug und dem jeweiligen Objekt, die Richtung der Relativgeschwindigkeit und der Kurvenradius sowie die Art des Verkehrs sind. Unter der Art des Verkehrs ist beispielsweise zu verstehen, ob Rechts- oder Linksverkehr vorliegt. Ausgangspunkt ist ein Sensorsystem mit einem oder mehreren Sensoren, welche kontinuierlich Objekte detektieren. Der Detektionsbereich hat einen festen Öffnungswinkel und eine feste Reichweite. Mitunter können sehr viele Objekte detektiert werden, die sich im Detektionsbereich der Sensorik befinden.The measures and further developments listed in the dependent claims permit advantageous improvements to the device for monitoring the environment in a vehicle, as specified in the independent patent claim. It is particularly advantageous that the parameters according to which the device according to the invention selects the relevant objects are the relative speed between the vehicle and the respective object, the direction of the relative speed and the curve radius, and the type of traffic. The type of traffic means, for example, whether there is right-hand or left-hand traffic. The starting point is a sensor system with one or more sensors that continuously detect objects. The detection area has a fixed aperture angle and a fixed range. Sometimes a large number of objects can be detected that are in the detection range of the sensor system.
Entsprechend der Fahrsituation gibt es eine Vielzahl von Parametern, die es erlauben, das Aufmerksamkeitsfenster zu reduzieren. Das Aufmerksamkeitsfenster orientiert sich auch an der Auftretenswahrscheinlichkeit von Objekten in diesem Bereich.Depending on the driving situation, there are a number of parameters that allow the attention window to be reduced. The attention window is also based on the probability of occurrence of objects in this area.
Zunächst ist der Abstand vor dem Fahrzeug abhängig von der relativen Geschwindigkeit, im Sonderfall lediglich der Fahrzeuggeschwindigkeit, wenn die Zeit fest steht. So hat zum Beispiel ein reversibler Gurtstraffer immer die gleiche Aktivierungszeit. Dem entsprechend muss das Aufmerksamkeitsfenster bei größeren Geschwindigkeiten ebenfalls in x-Richtung größer sein, um für das Rückhaltemittel die entsprechende Zeit durch Objektverfolgung in einem größeren Bereich bereitzustellen.First, the distance in front of the vehicle depends on the relative speed, in special cases only the vehicle speed when the time is fixed. For example, a reversible belt tensioner always has the same activation time. Accordingly, the attention window at larger speeds must also be larger in the x direction in order to provide the restraining means with the corresponding time in a larger area by object tracking.
Das Aufmerksamkeitsfenster in y-Richtung, also in Querrichtung, ist abhängig von der relativen Geschwindigkeit zwischen dem Fahrzeug und dem Objekt. Bei hohen Geschwindigkeiten ist die Wahrscheinlichkeit für Objekte, die unter einem größeren Eintrittswinkel auf das Fahrzeug zukommen, ziemlich gering. Dementsprechend kann das Aufmerksamkeitsfenster in y-Richtung kleiner gewählt werden.The attention window in the y direction, i.e. in the transverse direction, depends on the relative speed between the vehicle and the object. At high speeds, the likelihood of objects approaching the vehicle at a larger angle of entry is quite low. Accordingly, the attention window in the y direction can be chosen to be smaller.
Ähnliches gilt für seitliche Vorbeifahrer, wie es tagtäglich auf Landstraßen und in Ortschaften vorkommt. Der Abstand zu den Vorbeifahrern ist eine Funktion der Geschwindigkeit.The same applies to side passers-by, as it happens every day on country roads and in towns. The distance to the passers-by is a function of the speed.
Das Aufmerksamkeitsfenster in y-Richtung ist eine Funktion des Kurvenradius. Ein kleiner Kurvenradius erfordert ein großes Aufmerksamkeitsfenster in y-Richtung. Für die Interpretation von Fahrsituationen ist ebenfalls zu berücksichtigen, ob Links- oder Rechtsverkehr vorliegt. So werden beim Rechtsverkehr beispielsweise parkende Autos oder zu überholende Autos und somit mit einer kleinen Relativgeschwindigkeit, rechts detektiert. Entgegenkommende Fahrzeuge und mit einer hohen Relativgeschwindigkeit werden links detektiert.The attention window in the y direction is a function of the curve radius. A small curve radius requires a large attention window in the y direction. When interpreting driving situations, it must also be considered whether there is left-hand or right-hand traffic. In right-hand traffic, for example, parked cars or cars to be overtaken and thus at a low relative speed are detected on the right. Oncoming vehicles and with a high relative speed are detected on the left.
Weiterhin ist es von Vorteil, dass die Auswerteeinheit der erfindungsgemäßen Vorrichtung mit wenigstens einem Rückhaltemittel verbindbar ist, wobei die Auswerteeinheit das wenigstens eine Rückhaltemittel in Abhängigkeit von der Verfolgung des wenigstens einen Objekts ansteuert. Insbesondere, wenn nun das Objekt sich auf Kollisionskurs mit dem Fahrzeug befindet und einen solchen Abstand unterschreitet, der bei gleich bleibender Geschwindigkeit notwendig ist, um reversible Rückhaltemittel wie Gurtstraffer auszulösen, in diesem Fall erzeugt die Auswerteeinheit ein Ansteuersignal, um die entsprechenden Rückhaltemittel auszulösen.Furthermore, it is advantageous that the evaluation unit of the device according to the invention can be connected to at least one restraint, the evaluation unit controlling the at least one restraint as a function of the tracking of the at least one object. In particular, if the object is now on a collision course with the vehicle and is less than the distance that is necessary at constant speed to trigger reversible restraint devices such as belt tensioners, in this case the evaluation unit generates a control signal to trigger the corresponding restraint devices.
Dabei ist es von Vorteil, dass die Rückhaltemittel reversibel ausgebildet sind oder zumindest teilweise reversibel. Dazu zählen insbesondere reversible Gurtstraffer oder eine ausfahrbare Stoßstange.It is advantageous that the restraining means are designed to be reversible or at least partially reversible. These include, in particular, reversible belt tensioners or an extendable bumper.
Zeichnungdrawing
Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden in der nachfolgenden Beschreibung näher erläutert.Embodiments of the invention are shown in the drawing and are explained in more detail in the following description.
Es zeigenShow it
Figur 1 ein Blockschaltbild der erfindungsgemäßen Vorrichtung,FIG. 1 shows a block diagram of the device according to the invention,
Figur 2 zwei Situationen zur Funktionsweise der erfindungsgemäßenFigure 2 shows two situations for the functioning of the invention
Vorrichtung und Figur 3 ein Flussdiagramm des Verfahrens, das auf der erfindungsgemäßenDevice and Figure 3 is a flow chart of the method based on the inventive
Vorrichtung abläuft. BeschreibungDevice expires. description
Zukünftig werden für Autofahrer neue Funktionen entwickelt, die sie beim Fahrbetrieb unterstützen sollen. Diese Funktionen umfassen sowohl Komfort- als auch Sicherheitsfunktionen. Bei den Sicherheitsfunktionen wird die Funktion Precrash eine wichtige Rolle einnehmen, da die Detektion eines bevorstehenden Unfalles von großer Bedeutung für die Abmilderung des Unfalles für die Fahrzeuginsassen sein wird. Insbesondere ist es hierbei auch möglich, den Unfall möglicherweise ganz zu vermeiden. Problematisch ist es jedoch, dass im Frontbereich des Fahrzeuges während eines normalen Fahrbetriebs viele Objekte detektiert werden können. Hier wird nun erfindungsgemäß eine Vorrichtung zur Umfeldüberwachung vorgeschlagen, die eine Umfeld- und Situationsinterpretation durchführt, um nur diejenigen Objekte auszuwählen, die im Sinne des Insassenschutzes auch gefährlich und crashrelevant sein können.In the future, new functions will be developed for drivers to support them in driving. These functions include both comfort and safety functions. The precrash function will play an important role in the safety functions, since the detection of an impending accident will be of great importance for the mitigation of the accident for the vehicle occupants. In particular, it is also possible to avoid the accident entirely. However, it is problematic that many objects can be detected in the front area of the vehicle during normal driving. Here, according to the invention, a device for environmental monitoring is now proposed, which carries out an environmental and situation interpretation in order to select only those objects which can also be dangerous and crash-relevant in the sense of occupant protection.
Figur 1 zeigt in einem Blockschaltbild die erfindungsgemäße Vorrichtung. Eine Sensorik . 1 ist mit einer Auswerteeinheit 2 über eine Datenausgang verbunden. Über einen Datenein-/ausgang ist die Auswerteeinheit 2 mit einem Steuergerät für Rückhaltemittel 3 verbunden. Dieses Steuergerät 3 ist wiederum über einen ersten Datenausgang mit einem reversiblen Gurtstraffer 4 über einen zweiten Datenausgang mit einer ausfahrbaren Stoßstange 5 und über einen dritten Datenausgang mit Airbags 6 im Fahrzeug verbunden.FIG. 1 shows the device according to the invention in a block diagram. A sensor system. 1 is connected to an evaluation unit 2 via a data output. The evaluation unit 2 is connected to a control device for restraint means 3 via a data input / output. This control unit 3 is in turn connected to a reversible belt tensioner 4 via a first data output, to an extendable bumper 5 via a second data output and to airbags 6 in the vehicle via a third data output.
Bei der Sensorik 1 handelt es sich hier um Abstandssensoren, darunter sind also Umfeldsensoren wie Video-, Radar-, Ultraschall oder auch Infrarot-Sensoren zu verstehen, die geeignet sind, um das Umfeld zu überwachen. Das Steuergerät 3 ist mit hier nicht dargestellten Aufprallsensoren verbunden, die einen tatsächlichen Crash detektieren. Dabei wird es sich dann meistens um Beschleunigungssensoren handeln, es können jedoch auch Verformungssensoren hier verwendet werden. Die Sensorik 1 liefert bereits einen digitalen Datenstrom an den Auswertebaustein 2. Dafür weist die Sensorik 1 eine Signalaufbereitung und einen Analog-Digital-Wandler auf. Der Auswertebaustein 2 kann einen Prozessor oder eine dezidierte Hardware sein, also ein für diesen Zweck hergestellter integrierter Schaltkreis. Die Sensorik 1 und der Auswertebaustein 2 können beide in einem Gehäuse angeordnet sein. Es kann jedoch sein, dass die Sensorik 1 abgesetzt von dem Auswertebaustein 2 angeordnet ist, um beispielsweise verschiedene Videosensoren, die am Fahrzeug angebracht sind, mit nur einem Auswertebaustein 2 zu verbinden. Bei einer solchen abgesetzten Verbindung ist es möglich, dass entweder jeder einzelnen Sensor der Sensorik 1 über eine Zweidrahtleitung mit dem Auswertebaustein 2 verbunden ist, oder dass ein ganzer Sensorbus eingesetzt wird, um die einzelnen Sensoren der Sensorik 1 mit dem Auswertebaustein 2, beispielsweise als Bus-Master, zu verbinden. Die Verbindung kann dabei elektrisch, optisch oder über Funkwellen realisiert sein. Ist der Auswertebaustein 2 abgesetzt von der Sensorik 1, dann wirkt dieser Auswertebaustein 2 wie ein Steuergerät und kann gegebenenfalls auch mit dem Steuergerät 3 in einem Gehäuse angeordnet sein. Sind der Auswertebaustein 2 und das Steuergerät 3 in verschiedenen Gehäusen angeordnet, dann ist die Verbindung zwischen ihnen entweder durch eine Zweidrahtleitung oder wiederum durch einen Bus realisiert, der mehrere Steuergeräte miteinander verbindet. Das Steuergerät 3 selbst berechnet den Auslösealgorithmus für die Rückhaltemittel 4, 5 und 6. Dabei wird das Signal von der Sensorik 1 mitverwendet, um insbesondere reversible Rückhaltemittel wie den Gurtstraffer 4 und die ausfahrbare Stoßstange 5 bereits vor dem Aufprall auszulösen. Auch ein adaptiver Airbag, der relativ weich aufgeblasen wird, also mit einer geringen Aufblaszeit, kann bereits vorzeitig, bevor es zum eigentlichen Crash kommt, ausgelöst werden. Andere Parameter, die in den Auslösealgorithmus eingehen, sind die Signale von den Aufprallsensoren, also beispielsweise, wie oben dargestellt, den Beschleunigungssensoren.The sensors 1 are distance sensors, which means that they include environment sensors such as video, radar, ultrasound or infrared sensors that are suitable for monitoring the environment. The control unit 3 is connected to impact sensors, not shown here, which detect an actual crash. It will then mostly be acceleration sensors, but deformation sensors can also be used here. The sensor system 1 already supplies a digital data stream to the evaluation module 2. For this purpose, the sensor system 1 has a signal processing unit and an analog-digital converter. The evaluation module 2 can be a processor or dedicated hardware, that is to say an integrated circuit manufactured for this purpose. The sensor system 1 and the evaluation module 2 can both be arranged in one housing. However, it may be the case that the sensor system 1 is arranged remote from the evaluation module 2, for example by different ones To connect video sensors that are attached to the vehicle with only one evaluation module 2. With such a remote connection, it is possible that either each individual sensor of the sensor system 1 is connected to the evaluation module 2 via a two-wire line, or that an entire sensor bus is used to connect the individual sensors of the sensor system 1 to the evaluation module 2, for example as a bus -Master to connect. The connection can be realized electrically, optically or via radio waves. If the evaluation module 2 is set apart from the sensor system 1, then this evaluation module 2 acts like a control unit and can optionally also be arranged with the control unit 3 in a housing. If the evaluation module 2 and the control unit 3 are arranged in different housings, then the connection between them is realized either by a two-wire line or again by a bus that connects several control units to one another. The control unit 3 itself calculates the triggering algorithm for the restraint means 4, 5 and 6. The signal from the sensor system 1 is also used in order to trigger reversible restraint means such as the belt tensioner 4 and the extendable bumper 5 even before the impact. An adaptive airbag that is inflated relatively softly, i.e. with a short inflation time, can also be triggered early before the actual crash occurs. Other parameters that are included in the triggering algorithm are the signals from the impact sensors, that is to say, for example, as shown above, the acceleration sensors.
Erfindungsgemäß wählt nun die Auswerteeinheit 2 von den mit der Sensorik 1 erkannten Objekten die Objekte aus, die unter Berücksichtung von Parametern wie der Relativgeschwmdigkeit zwischen diesen Objekten und dem Fahrzeug deren Richtung und der Fahrsituation sowie der Fahrbahnbeschaffenheit für einen Unfall relevant sein könnten. Damit werden einerseits die verfügbaren Ressourcen für die potenziell gefährlichen Objekte verwendet und nicht für ungefährliche Objekte verbraucht, so dass hier kein Performanceverlust durch eine Vielzahl von Objekten entstehen wird. Andererseits ist durch die Objektauswahl das Auftreten von sogenannten Misuse-Fällen, also Nichtauslösefällen, bei denen jedoch ausgelöst wird, vermeidbar.According to the invention, the evaluation unit 2 now selects the objects from the objects detected by the sensor system 1 which, taking into account parameters such as the relative speed between these objects and the vehicle, their direction and the driving situation as well as the road surface could be relevant for an accident. On the one hand, the available resources are used for the potentially dangerous objects and not on the safe objects, so that there is no loss of performance due to a large number of objects. On the other hand, the selection of objects prevents the occurrence of so-called misuse cases, i.e. non-triggering cases, which trigger, however.
Die ausgewählten Objekte werden dann mit der Sensorik 1 verfolgt. Erkennt der Auswertebaustein 2, dass ein verfolgtes Objekt einen vorgegebenen Abstand zum Fahrzeug unterschreitet, dann wird ein Signal an das Steuergerät 3 übertragen, dass die Rückhaltemittel auszulösen sind, die als erste auszulösen sind. Dazu gehören insbesondere reversible Gurtstraffer. Dieser vorgegebene Abstand um das Fahrzeug ist also eine Zeitgrenze für den Einsatz von solchen Rückhaltemitteln. Doch auch nach Unterschreiten dieses Abstandes wird das Objekt weiter verfolgt, um präzise Aussagen über einen möglichen zukünftigen Crashverlauf machen zu können, um so einen adaptiven Einsatz von Rückhaltemitteln zu erreichen. Es können mehrere solche Abstandswerte vorgegeben sein, um für jeweilige Rückhaltemittel in Abhängigkeit von deren Auslösezeiten einen optimalen Zeitpunkt für das Auslösen dieser Rückhaltemittel zu bestimmen.The selected objects are then tracked with the sensor system 1. If the evaluation module 2 detects that a tracked object is less than a predetermined distance from the vehicle, then a signal is transmitted to the control unit 3 that the restraining means that are to be triggered first are to be triggered. This includes especially reversible belt tensioners. This predetermined distance around the vehicle is therefore a time limit for the use of such restraint devices. However, even after this distance has been fallen short of, the object continues to be tracked in order to be able to make precise statements about a possible future crash course in order to achieve an adaptive use of restraint devices. Several such distance values can be specified in order to determine an optimal point in time for the release of these retention means for the respective retention means depending on their release times.
Figur 2 zeigt nun in den Teilbildern A und B zwei typische Situationen für den Einsatz der erfindungsgemäßen Vorrichtung. Ein Fahrzeug 7 weist einen Detektionsbereich 8 über seine Sensorik 1 auf, der kontinuierlich durch die Sensorik beispielsweise radarüberwacht wird. Tritt nun das Fahrzeug 10 in den Detektionsbereich 8 ein, wird dies durch die Sensorik 1 erkannt, und es werden Parameter wie die Relativgeschwindigkeit und deren Richtung zu dem Fahrzeug 7 bestimmt. In Abhängigkeit von diesen Parametern wird ein Aufmerksamkeitsbereich 9 definiert, mit einem vorgegebenen Abstand 13, bei dessen Unterschreiten durch das Fahrzeug 10 Rückhaltemittel, wie beispielsweise der reversible Gurtstraffer 4, ausgelöst werden. Die Fahrzeuggeschwindigkeit ist hier in Figur 2a wesentlich höher, als in Figur 2b, so dass der Aufmerksamkeitsbereich 9 bis an die äußere Grenze des Detektionsbereichs 8 reicht.FIG. 2 now shows two typical situations for the use of the device according to the invention in partial images A and B. A vehicle 7 has a detection area 8 via its sensor system 1, which is continuously monitored by the sensor system, for example radar. If the vehicle 10 now enters the detection area 8, this is recognized by the sensor system 1, and parameters such as the relative speed and their direction to the vehicle 7 are determined. Depending on these parameters, an attention area 9 is defined with a predetermined distance 13, below which the restraint means, such as the reversible belt tensioner 4, are triggered by the vehicle 10. The vehicle speed is much higher in FIG. 2a than in FIG. 2b, so that the attention area 9 extends to the outer limit of the detection area 8.
In Figur 2b weist nun ein Fahrzeug 15 eine Sensorik 1 auf, wiederum mit dem Detektionsbereich 8 und dem Aufmerksamkeitsbereich 12. Auch hier ist die Abstandsgrenze 14 definiert, bei deren Unterschreiten der reversible Gurtstraffer 4 ausgelöst wird. Das Fahrzeug 11 fährt hier quer zur Fahrtrichtung des eigenen Fahrzeugs. Die Relativgeschwindigkeit zwischen den Fahrzeugen 15 und 11 ist hier wesentlich geringer als in Figur 2a zwischen den Fahrzeugen 7 und 10. Daher kann der Aufmerksamkeitsbereich 12 wesentlich kleiner als der Aufmerksamkeitsbereich 9 sein.In FIG. 2b, a vehicle 15 now has a sensor system 1, again with the detection area 8 and the attention area 12. Here, too, the distance limit 14 is defined, below which the reversible belt tensioner 4 is triggered. Here, the vehicle 11 traverses the direction of travel of its own vehicle. The relative speed between vehicles 15 and 11 is significantly lower here than in FIG. 2a between vehicles 7 and 10. Therefore, attention area 12 can be significantly smaller than attention area 9.
Figur 3 zeigt als Flussdiagramm das Verfahren, das auf der erfindungsgemäßen Vorrichtung, insbesondere auf dem Auswertebaustein 2, abläuft. In Verfahrensschritt 20 werden mit Hilfe der Sensorik 1 und des Auswertebausteins 2 Objekte im Detektionsbereich 9 detektiert. Dann erfolgt in Verfahrensschritt 21 die Parameterbestimmung, wobei hier die Relativgeschwindigkeit zwischen dem eigenen Fahrzeug und den Objekten bestimmt wird. Auch die Richtung der Relativgeschwmdigkeit wird hier bestimmt, um abschätzen zu können, ob eine Kollision bevorsteht. Weitere Parameter, die hier eingehen, sind der Kurvenradius und die Art des Verkehrs, also beispielsweise Rechts- oder Linksverkehr. Auch andere Daten wie beispielsweise das Fahrverhalten der anderen Objekte, können hier als Parameter eingehen. Die einzelnen Parameter werden dabei gewichtet, um eine Aussage zu treffen, und zwar in Verfahrensschritt 22, welche Objekte relevant sind und in Verfahrensschritt 23 einer Zielverfolgung unterzogen werden müssen, um bei einem möglichen Crash die Rückhaltemittel möglichst frühzeitig auszulösen.FIG. 3 shows a flowchart of the method that runs on the device according to the invention, in particular on the evaluation module 2. In method step 20, objects in the detection area 9 are detected with the aid of the sensor system 1 and the evaluation module 2. The parameter determination is then carried out in method step 21, the relative speed between one's own vehicle and the objects being determined here. Also the direction of the Relative speed is determined here in order to be able to estimate whether a collision is imminent. Other parameters that are included here are the curve radius and the type of traffic, for example right-hand or left-hand traffic. Other data such as the driving behavior of the other objects can also be included here as parameters. The individual parameters are weighted in order to make a statement, namely in method step 22 which objects are relevant and in method step 23 must be subjected to target tracking in order to trigger the restraint means as early as possible in the event of a possible crash.
In Verfahrensschritt 24 wird dann überwacht, ob die verfolgten Objekte mit hoher Wahrscheinlichkeit eine Kollision mit dem eigenen Fahrzeug verursachen werden. Dies wird anhand der vorgegebenen Abstände 13 bzw. 14, und zwar durch deren Unterschreiten, überwacht. Wird ein solcher Sicherheitsabstand um das eigene Fahrzeug unterschritten, dann wird nach Verfahrensschritt 24 zu Verfahrensschritt 25 gesprungen, um das entsprechende Rückhaltemittel, das an das Unterschreiten dieses Abstandswerts gekoppelt ist, auszulösen. Liegt jedoch durch Prüfung in Verfahrensschritt 24 keine mögliche Kollision vor, wird das Objekt weiter in Verfahrensschritt 23 verfolgt. Es können gleichzeitig mehrere Objekte verfolgt werden, wobei diese Zahl jedoch möglichst klein sein sollte, um eine effektive Ressourcenauslastung der vorhandenen Hardware und Software zu erreichen. Eine zu hohe Zahl von zu verfolgenden Objekten würde die Reaktionszeit der erfindungsgemäßen Vorrichtung wesentlich verringern. In method step 24, it is then monitored whether the objects being tracked are highly likely to cause a collision with one's own vehicle. This is monitored on the basis of the predetermined distances 13 and 14, specifically by falling below them. If the vehicle falls short of such a safety distance, then a jump is made to step 25 after step 24 in order to trigger the corresponding restraint means, which is linked to the falling below this distance value. If, however, there is no possible collision due to a test in method step 24, the object is further followed in method step 23. Several objects can be tracked at the same time, but this number should be as small as possible in order to achieve effective resource utilization of the existing hardware and software. An excessive number of objects to be tracked would significantly reduce the response time of the device according to the invention.

Claims

Patentansprüche claims
1. Vorrichtung zur Umfeldüberwachung in einem Fahrzeug, wobei die Vorrichtung eine Umfeldsensorik (1) mit einem vorgegebenen Detektionsbereich (9) aufweist, wobei ein Auswertebaustein (2) zur der Auswertung eines Signals der Umfeldsensorik (1) vorhanden ist, dadurch gekennzeichnet, dass der Auswertebaustein (2) derart konfiguriert ist, dass der Auswertebaustein (2) in Abhängigkeit von vorgegebenen Parametern wenigstens ein Objekt (10, 11) im Detektionsbereich auswählt und verfolgt.1. Device for environmental monitoring in a vehicle, the device having an environmental sensor system (1) with a predetermined detection range (9), an evaluation module (2) for evaluating a signal from the environmental sensor system (1) being provided, characterized in that the The evaluation module (2) is configured in such a way that the evaluation module (2) selects and tracks at least one object (10, 11) in the detection range depending on predetermined parameters.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Parameter die Relativgeschwindigkeit zwischen dem Fahrzeug (7, 15) und dem jeweiligen Objekt (10, 11), die Richtung der Relativgeschwindigkeit und der Kurvenradius, sowie die Art des Verkehrs sind.2. Device according to claim 1, characterized in that the parameters are the relative speed between the vehicle (7, 15) and the respective object (10, 11), the direction of the relative speed and the curve radius, and the type of traffic.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Auswertebaustein (2) mit wenigstens einem Rückhaltemittel (3 bis 6) verbindbar ist, wobei der Auswertebaustein des wenigstens einen Rückhaltemittels (4 bis 6) in Abhängigkeit von der Verfolgung des wenigstens einen Objekts (10, 11) ansteuert.3. Device according to claim 1 or 2, characterized in that the evaluation module (2) can be connected to at least one retention means (3 to 6), the evaluation module of the at least one retention means (4 to 6) depending on the tracking of the at least one Object (10, 11) driven.
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass das wenigstens eine Rückhaltemittel (4 bis 6) reversibel ausgebildet ist.4. The device according to claim 3, characterized in that the at least one retaining means (4 to 6) is reversible.
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass als das wenigstens eine reversible Rückhaltemittel (4 bis 6) ein reversibler Gurtstraffer und/oder eine ausfahrbare Stoßstange einsetzbar sind. 5. The device according to claim 4, characterized in that a reversible belt tensioner and / or an extendable bumper can be used as the at least one reversible retaining means (4 to 6).
EP03763577A 2002-07-11 2003-02-26 Device for monitoring the surroundings of a vehicle Ceased EP1523688A1 (en)

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