EP1569183B1 - System for open-loop and/or for closed loop control of driver assist systems and method related thereto - Google Patents

System for open-loop and/or for closed loop control of driver assist systems and method related thereto Download PDF

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Publication number
EP1569183B1
EP1569183B1 EP20050100036 EP05100036A EP1569183B1 EP 1569183 B1 EP1569183 B1 EP 1569183B1 EP 20050100036 EP20050100036 EP 20050100036 EP 05100036 A EP05100036 A EP 05100036A EP 1569183 B1 EP1569183 B1 EP 1569183B1
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EP
European Patent Office
Prior art keywords
system
assistance system
driver assistance
means
locomotion
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.)
Expired - Fee Related
Application number
EP20050100036
Other languages
German (de)
French (fr)
Other versions
EP1569183A3 (en
EP1569183A2 (en
Inventor
Vasco Vollmer
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
Priority to DE102004008895 priority Critical
Priority to DE200410008895 priority patent/DE102004008895A1/en
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1569183A2 publication Critical patent/EP1569183A2/en
Publication of EP1569183A3 publication Critical patent/EP1569183A3/en
Application granted granted Critical
Publication of EP1569183B1 publication Critical patent/EP1569183B1/en
Application status is Expired - Fee Related legal-status Critical
Anticipated expiration legal-status Critical

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/164Centralised systems, e.g. external to vehicles
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/22Platooning, i.e. convoy of communicating vehicles

Description

  • The present invention generally relates to the technical field of infrastructure-assisted driver assistance systems, in particular
    • a system for controlling and / or regulating at least one, in particular more in each case at least one means of transportation, in particular in each case at least one motor vehicle, associated, preferably autonomous driver assistance systems and
    • a related method for operating such a system.
    State of the art
  • In the past there have been many developments towards autonomous electronic systems, or at least the driver of a means of transportation, in particular of a motor vehicle. A broad introduction and market penetration of such systems failed in this connection only partly because of technical difficulties.
  • An essential argument against the use of active driver assistance systems has always been the question of safety and product liability, because an essential element of these conventional systems is at least the leader of the means of transport to take control of the means of locomotion in sub-functions and to transfer this control to electronic systems in the means of locomotion.
  • Exemplary applications are
    • the lane change assistant, in which the electronic system autonomously prevents a lane change, if this could result in a dangerous situation,
    • the overtaking assistant, who is autonomous in assessing and possibly performing overtaking
    • the intersection assistant, which prevents entering an intersection, if it could result in a dangerous situation, or even
    • the Platooning (so-called electronic drawbar), in which several vehicles autonomously coordinate all their driving function and thus are able to follow a first vehicle without driver intervention.
      All these systems have different requirements
    • to the sensors, which can be realized for example by means of radar, ultrasound and / or video, with which an image of the environment is created, as well as
    • to the communication between the various means of transport involved.
  • In the past, or in various projects worldwide, technological foundations have been created in sensor technology as well as in vehicle-to-vehicle communication.
  • The EP 1241650 A1 shows a navigation system, which includes a computer which is connected via a vehicle bus system with a vehicle-side computer. This on-board computer performs interventions in driving functions. The navigation system is also connected via a wireless connection to a central office. About this connection, the navigation system from the central device data regarding the traffic situation, the topographical conditions, references to legal regulations and traffic signs, etc. retrieve in the course of the other route. The computer of the navigation system can deliver commands to the vehicle computer. It is therefore essential that the navigation system intervenes in vehicle functions as a function of data that it receives from a service center.
  • DESCRIPTION OF THE INVENTION: Problem, Solution, Advantages
  • Based on the disadvantages and inadequacies set out above and in acknowledgment of the state of the art outlined, the present invention has the object, a system of the type mentioned and a method of the type mentioned so that the problem of product liability when used autonomously in the Vehicle guidance of intrusive electronic systems is eliminated.
  • This object is achieved by a system having the features specified in claim 1 and by a method having the features specified in claim 6. Advantageous embodiments and expedient developments of the present invention are characterized in the respective subclaims.
  • The invention is based on the principle or on the method of an infrastructure-assisted driver assistance system, wherein the present invention presents a solution to the problem of product liability in the use of autonomous vehicle systems engaging electronic systems.
  • The basis of the present invention is the use of high-speed and high-availability mobile radio networks of the third and fourth generation, which are currently under development and development, for at least one central station, in particular at least one central computer, in the process of controlling and regulating the, in particular, autonomous driver assistance systems and to entrust this central station, in particular this central computer, with the responsibility.
  • The system according to the present invention as well as the method according to the present invention are based on autonomous driver assistance systems which
    • with the help of their sensors and / or
    • through communication with other means of transportation
    be able to assist the operator of the vehicle in complex or potentially dangerous situations by intervening autonomously in the immediate driving functions such as accelerating, braking, steering or giving warning signals and other signals.
  • Here, the system according to the present invention as well as the method according to the present invention is based on the availability of at least one in particular wireless vehicle-to-infrastructure communication which fulfills the set requirements.
  • This communication can be both
    • on current or future cellular mobile radio systems, such as
    • - on Bluetooth,
    • - to G [eneral] P [acket] R [adio] S [ervice],
    • - G [lobal] S [ystem for] M [obile Communication],
    • on U [niversal] M [obile] T [elecommunication] S [ystem],
    • - on W [ireless] A [application] P [rotocol] and / or
    • - on W [ireless] L [ocal] A [rea] N [etwork],
    • on broadcasting services, such as D [igital] A [audio] B [roadcasting],
    • on a direct vehicle-to-beacon basis and / or
    • on multi-hop basis, where initially one or more vehicles serve as a relay station,
    build up.
  • Using this exemplary communication type (s) with the infrastructure, a vehicle either communicates in critical situations, periodically or permanently with one or more (central) computer systems, which are advantageously managed by at least one trusted institution and advantageously meet high security requirements ,
  • This at least one (central) computer system monitors the state of the driver assistance systems in an expedient manner on an ongoing basis and is at any time entitled to intervene in the control of the respective vehicle when a situation threatens to become critical or is already critical.
  • In order to prevent any malfunctions, it is advantageous to use efficient redundant decision systems for the central station or the central computer, for example three independent decision systems, the
    • can make a majority decision and
    • Simultaneously perform a plausibility check of received data and instructions.
  • Regardless of or in connection herewith, it is a preferred embodiment of the present invention to store the decisions and the reactions thereto at least for a certain time centrally and / or in the means of transport to be able to understand the cause in the event of a system failure and in this way the Question of the existence of a product liability case in more reliable Way to clarify.
  • Finally, the present invention relates to the use of at least one system according to the kind set out above and / or a method according to the kind set forth above for increasing safety, in particular for avoiding accidents on the road, for example
    • at the platooning and / or
    • as part of a driver assistance system, such as
      • a distance control assistance system,
      • an A [atomic] N [ot] B [rems] system,
      • - a threading assistance system,
      • - a crossing assistance system,
      • a lane change assistance system,
      • - an overtake assistance system,
    meet the essential requirements of the use of communication between vehicles and / or an intervention in the driving function without involvement of the driver.
  • The system according to the kind set out above, as well as the method according to the kind set out above, require standardization, because here safety-critical functions are carried out in a wide variety of vehicles. Evidence for this is provided, for example, by the conformity with such a standard.
  • Brief description of the drawings
  • As already discussed above, there are various possibilities for embodying and developing the teaching of the present invention in an advantageous manner. For this purpose, reference is made on the one hand to the claims subordinate to claims 1 and 6, on the other hand further embodiments, features and advantages of the present invention will be described below with reference to FIG. 1 illustrated embodiment explained in more detail.
  • It shows:
    • Fig. 1 schematically an embodiment of a system according to the present invention, which is based on a communication model according to the present invention and operates according to the method according to the present invention.
    Best way to carry out the invention
  • An exemplary embodiment of the present invention is shown in FIG FIG. 1 shown.
  • In this case, a so-called platoon 100 drives out of three vehicles with the aid of communication with one another and with the infrastructure explained below, according to the invention. Communication with the infrastructure is via a gateway or base station 200.
  • The transport of the data and instructions 10 intended for the respective driver assistance system of motor vehicles 100 takes place via a wireless communication network 300 to a central computer 400, which is located in FIG. 1 composed of three redundant decision units 402, 404, 406.
  • In this case, the data and instructions 10 are bundled, collected and processed by the gateway or base station 200, with the antenna 210 of the gateway or the base station 200 enabling the data and instructions 10 to be received or transmitted.
  • In the platoon 100 of three (or more) vehicles, for example, when a potentially dangerous situation is detected, the computer system 400 can now display the last one, as shown in FIG FIG. 1 the lowest vehicle with ninety percent of the maximum braking force, the penultimate, as shown in the diagram FIG. 1 second lowest vehicle with eighty percent of the maximum braking force and so on. In this way, a tight-moving, autonomously controlled convoy is pulled apart effectively and safely, which leads to a significant reduction in the risk of accidents in the platoon 100.
  • Alternatively or in addition to this, the vehicle dynamics-relevant parameters of the individual vehicles can be exchanged during the construction of a platoon 100 from four vehicles, such as for example
    • the maximum acceleration,
    • the maximum braking delay,
    • the maximum lateral acceleration and
    • the maximum (desired) speed.
  • Based on these values, the respective drivers of the four motor vehicles are instructed, by means of the data and information 10 transmitted by the system 500, to take a certain order in the platoon 100, with the vehicle braking the most at the front, that is to say in accordance with FIG FIG. 1 should be located above.
  • A scenario encompassed by the present invention now assumes that the drivers do not abide by this instruction and take a different order, with the central computer 400 of the system 500 not receiving the information about the order correctly due to a short or temporary malfunction and therefore should start from the ordered order.
  • During the journey, the central computer 400 now instructs the platoon 100 to perform emergency braking. However, the plausibility check in the vehicles in this case results in a high risk by the wrong in the rear, in the illustration according to FIG. 1 lower range sorted weaker braking vehicle, so that the driving in front of this slower braking vehicle driving vehicles in accordance with the present invention perform only limited to the maximum braking value of the weakest behind it moving vehicle limited braking.
  • In this way, the speed differences between the vehicles are kept so low that a dynamic control to the maximum braking value of the Gesamtplatoons 100 is possible. The behind, that is in the representation according to FIG. 1 Vehicles under the vehicle that brakes more slowly brake advantageously with their maximum braking force in order to ensure that the platoon 100 is pulled apart, even in this case.
  • In FIG. 1 the present invention is illustrated by means of the embodiment of the platooning. The methodology and procedure according to the present invention apply equally to other driver assistance functions, such as A [N] ot [B], intersection assistance, lane change assistance, distance control assistance, overtaking assistance, threading assistance and the like not mentioned here Wizards who meet the essential requirements of the use of a communication between vehicles 20 and an intervention in the driving function without involvement of the driver.

Claims (9)

  1. System (500) for performing open-loop and/or closed-loop control of at least one driver assistance system which is assigned to a means of locomotion (100) and which is capable of assisting the driver of the means of locomotion using its sensor system and/or by communication with other means of locomotion, by virtue of the fact that said system (500) intervenes autonomously in the driving functions, characterized in that the driver assistance system can be open- or closed-loop controlled by means of data and/or instructions (10) which can be exchanged between the driver assistance system and at least one central station (400) over a wireless communications network (300), wherein the driver assistance system communicates with the central station (400), and the central station (400) monitors the state of the driver assistance system and intervenes in the open-loop control of the vehicle if a situation threatens to become critical or is critical.
  2. System according to Claim 1, characterized in that at least one base station or at least one gateway (200) is connected between the driver assistance systems and the central station (400), in particular between the driver assistance systems and the communications network (300).
  3. System according to Claim 2, characterized in that the data and/or instructions (10) can be bundled, collected and/or prepared by the base station or by the gateway (200), in particular in that the data and/or instructions (10) can be received and/or transmitted by means of at least one antenna unit (210) which is assigned to the base station or the gateway (200).
  4. System according to at least one of Claims 1 to 3, characterized in that the communications network (300) is based on at least one, in particular high-rate and/or in particular high-availability mobile radio network of the second, third and/or fourth generation, for example
    - on Bluetooth,
    - on G[eneral]P[acket]R[adio]S[ervice],
    - on G[lobal]S[ystem for]M[obile Communication],
    - on U[niversal]M[obile]T[elecommunication]S[ystem],
    - on W[ireless]A[pplication]P[rotocol] and/or
    - on W[ireless]L[ocal]A[rea]N[etwork].
  5. System according to at least one of Claims 1 to 3, characterized in that the central station (400) has more than one, for example at least three, in particular redundant decision units (402, 404, 406), so that, with respect to the received and/or transmitted data and/or instructions (10) and with respect to the decisions which are made in response thereto and/or reactions which occur in response thereto,
    - at least one plausibility check can be carried out and/or
    - at least one majority decision can be made.
  6. Method for performing open-loop and/or closed-loop control of at least one driver assistance system which is assigned to a means of locomotion (100) and which assists the driver of the means of locomotion using its sensor system and/or by communication with other means of locomotion, by virtue of the fact that said method intervenes autonomously in the driving functions, characterized in that the driver assistance system can be open- and/or closed-loop controlled by means of data and/or instructions which are exchanged between the driver assistance system and at least one central station (400) over a wireless communications network (300), wherein the driver assistance system communicates with the central station (400), and the central station (400) continuously monitors the state of the driver assistance system and intervenes in the open-loop control of the means of locomotion if a situation threatens to become critical or is already critical.
  7. Method according to Claim 6, characterized in that the data and/or instructions (10) are bundled, collected and/or prepared by the base station or by the gateway (200), in particular in that the data and/or instructions (10) are received and/or transmitted by means of at least one antenna unit (210) which is assigned to the base station or the gateway (200).
  8. Method according to Claim 6 or 7, characterized
    - in that the means of locomotion (100), in particular its driver assistance system,
    communicates with the central station (400)
    - in a critical situation and/or
    - periodically and/or
    - continuously
    via the communications network (300).
  9. Use of at least one system (500) according to at least one of Claims 1 to 5 and/or a method according to at least one of Claims 6 to 8 for increasing the safety, in particular for avoiding accidents, in road traffic, for example
    - with platooning and/or
    - within the scope of a driver assistance system, for example
    -- an inter-vehicle distance control assistance system,
    -- an A[utomatic]E[mergency]B[rake] system,
    -- a lane feed-in assistance system,
    -- a junction assistance system,
    -- a lane-changing assistance system,
    -- an overtaking assistance system.
EP20050100036 2004-02-24 2005-01-05 System for open-loop and/or for closed loop control of driver assist systems and method related thereto Expired - Fee Related EP1569183B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE102004008895 2004-02-24
DE200410008895 DE102004008895A1 (en) 2004-02-24 2004-02-24 System for controlling and / or regulating driver assistance systems and method related thereto

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Publication Number Publication Date
EP1569183A2 EP1569183A2 (en) 2005-08-31
EP1569183A3 EP1569183A3 (en) 2006-08-16
EP1569183B1 true EP1569183B1 (en) 2008-02-20

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EP (1) EP1569183B1 (en)
DE (2) DE102004008895A1 (en)
ES (1) ES2298931T3 (en)

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Also Published As

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DE502005002870D1 (en) 2008-04-03
DE102004008895A1 (en) 2005-09-08
EP1569183A2 (en) 2005-08-31
ES2298931T3 (en) 2008-05-16
EP1569183A3 (en) 2006-08-16

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