EP1595161A2 - Danger recognition system for vehicles, comprising at least one lateral and rear environment detection unit - Google Patents

Danger recognition system for vehicles, comprising at least one lateral and rear environment detection unit

Info

Publication number
EP1595161A2
EP1595161A2 EP04706607A EP04706607A EP1595161A2 EP 1595161 A2 EP1595161 A2 EP 1595161A2 EP 04706607 A EP04706607 A EP 04706607A EP 04706607 A EP04706607 A EP 04706607A EP 1595161 A2 EP1595161 A2 EP 1595161A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
detection system
characterized
system according
hazard detection
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
EP04706607A
Other languages
German (de)
French (fr)
Inventor
Hans-Clemens Steffel
Dag Dr. Wagner
Daniel Wagner
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.)
SMR Patents SARL
Original Assignee
Odelo 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 DE10303578.8A priority Critical patent/DE10303578B4/en
Priority to DE10303578 priority
Application filed by Odelo GmbH filed Critical Odelo GmbH
Priority to PCT/DE2004/000140 priority patent/WO2004068164A2/en
Publication of EP1595161A2 publication Critical patent/EP1595161A2/en
Application status is Ceased legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/87Combinations of radar systems, e.g. primary radar and secondary radar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30Environment conditions or position therewithin
    • B60T2210/32Vehicle surroundings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9332Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles for monitoring blind spots
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9342Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles controlling the steering
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9346Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles controlling the brakes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/935Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles controlling the accelerator
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9357Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles using additional data, e.g. driver condition, road state, weather data
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9364Alternative operation using ultrasonic waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9367Alternative operation using light waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9371Sensor installation details
    • G01S2013/9378Sensor installation details in the back of the vehicle
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9371Sensor installation details
    • G01S2013/9385Sensor installation details on the side(s) of the vehicle
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9371Sensor installation details
    • G01S2013/9389Sensor installation details in the bumper area
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04Display arrangements
    • G01S7/06Cathode-ray tube displays or other two-dimensional or three-dimensional displays

Abstract

Disclosed is a danger recognition system for vehicles, comprising at least one lateral and rear environment detection unit, environment interpretation unit, and driver reaction support unit. The environment detection unit discerns objects which move relative to the vehicle that is provided with the danger recognition system. Said danger recognition system comprises two sensors that are oriented counter to the direction of travel, at least one evaluation and interpretation unit per sensor for determining the geometrical data and movement data of the detected object, at least one display unit per sensor, and at least one information, control, and/or regulating device which acts upon the vehicle brake system, the vehicle steering system, and/or other vehicle subassemblies. The invention allows the development of a danger recognition system for vehicles, which comprises at least one lateral and rear environment detection unit, autonomously recognizes existing and imminent dangerous situations, and causes the driver who does not react in time to at least optionally verify the situation.

Description

Hazard identification system for vehicles with at least one lateral and rear environment detection

Description :

The invention relates to a hazard detection ystem for vehicles with at least one side and rear environment sensing, ambient interpretation and driver reaction support, wherein the environment detecting perceive moving objects that move relative to the threat detection system supporting vehicle.

From DE 44 10 620 Al a monitoring device for the driver and / or passenger side of vehicles is known. The monitoring device comprises a vehicular outer mirror sensor for monitoring the Totwinkelbereiches. The sensor, an ultrasonic or an infrared sensor is connected to a controller, the existing object which can be in the case of detection of a blind spot in the light up an optical signal in the exterior mirror to warn the driver. ektidentifikation a Whether or predictive motion interpretation is not possible here.

Therefore, the present invention is based on the problem to develop a hazard identification system for vehicles with Any artwork least one environment sensing, which detects existing and imminent danger situations automatically and not timely responsive driver causes at least visually on the situation check.

This problem is solved with the features of the main claim. For this, the threat detection system has two counter to the direction of travel or at an acute angle obliquely aligned therewith sensors or sensor groups, where these are arranged offset to one another in the vehicle longitudinal direction. It comprises at least one analysis and interpretation unit per sensor or sensor group to determine geometry data and motion data of the or of the detected objects. Pro sensor or sensor group has at least one display unit. In addition, it has at least one acting on the vehicle brake system, the vehicle steering system and / or other vehicle assemblies information, control and / or regulating device, the latter is affected by the evaluation and interpretation units.

With the help of this external sensors attached to the vehicle is detected, inter alia, the blind spot in the rear of the mirror or of the external moving traffic. The images acquired by the sensors or contours deliver an evaluation and interpretation unit, an object determination as to the size or type, and from the image sequences of the relative movements or the observed objects. From the geometry and motion data ermit- the evaluation telt - while maintaining the current rate of all objects involved - a possible collision or near-collision. In both cases, the driver receives a visual, acoustic or haptic warning and possibly informed about possible reactions to avoid the hazard and / or animated. Further details of the invention emerge from the subclaims and the following description of schematically illustrated embodiments.

1 shows top view of vehicle blind spot monitoring; Figure 2 plan view of the vehicle; Figure 3 Totwinkelleuchte in A-column; Figure 4 Totwinkelleuchte in the mirror glass; Figure 5 Totwinkelleuchte in the mirror triangle; Figure 6 Totwinkelleuchte in the inner mirror housing area; Figure 7 Totwinkelleuchte in the outer mirror housing area.

1 shows a plan view of an example multi-lane roadway (70) on which three - in approximately the same direction (7, 8, 9) propelled - vehicles (1, 2, 3) are located. The first traveling ahead here vehicle (1) has two, the rear road detecting sensors (11, 15), see FIG. Figure 2. The first sensor (11) is in the driver's domestic mirrors (10) tegriert, while the second sensor (15) in the vehicle rear area, for example in the driver's side rear lighting unit (14) is installed. Possibly. both mirrors (10, 18) with at least one sensor (11) are equipped.

Alternatively, the forward location in the direction of travel sensor (11) and others to be housed in the outer or inner mirror, the mirror triangle of the outside mirror, on the third side markers, or in the grip strip of the driver door handle. If the sensor (11) integrated into a mirror, he can sit behind the mirror glass and the mirror housing or be arranged in the mirror base.

The mirror triangle is an area of ​​the vehicle shell. It is part of the driver's or passenger's door, as a rule, and is disposed between the A-pillar near the door post and the door side window. The mirror triangle supports and positions the exterior mirror on the driver's or passenger's door.

The rear sensor (15) can be an alternative to the arrangement in the rear lighting unit (14), for example, in the rear bumper, the area of ​​the tailgate handle in the middle additional brake light, in the license plate illumination or in an integrated in the C-pillar or D-pillar interior vent be positioned. Within the rear lighting unit (14) can sit in the reversing light, the indicator, in the tail lamp, the rear fog warning light, or in the local brake light.

The sensors (11, 15) may, for example, digital cameras, range cameras, laser or radar systems to be. There are also conceivable motion and other distance measuring systems. Various types of sensors can also be combined to form a sensor group.

has the front sensor (11), a detection angle of about 60 to 80 degrees, wherein the vehicle near Erfassungswinkel- boundary line (13) along "the outer contour of the vehicle bodies in series (6) extends, ie, this boundary line (13) extends for example parallel to direction. the sensing and / or Auswertereichweite is, for example 10 to 60 meters. the detection angle of the rear sensor (15) covers, for example, about 15 to 50 degrees. the sensing and / or Auswertereichweite extends to, for example 30 to 40 meters.

The sensors (11, 15) are used for detecting surroundings. They are moved, for example, moving objects (2, 3) detect the so relative to the vehicle (1) move, that a later collision - without a response from the driver of the vehicle (1) by changing the direction of travel (7) or the speed - can not be excluded. By an appropriate processing of the sensor data, the direction of movement, the speed as well as their changes are continuously calculated and compared with the comparable data for the vehicle (1) in an interpretation unit. From this information, a possible collision point or a minimum distance is not a guaranteed rate even collision-free encounter is calculated. Both options are interpreted lead situation as vascular.

From this, a driver reaction support is derived. From the maintaining of the direction of travel (7) and speed or from a respective or individual change, which increases a risk of collision, interprets the threat detection system that the driver (1) the approaching object (2, 3) in the Au not ßenspiegeltotwinkel perceives. It forces - in a first phase - the driver to look in the exterior mirrors (10) through an on or in the vicinity of the outside mirror (10) lighting up or flashing optical signal. In general, the driver of (1) facing with further non-perception of danger on the corresponding mirrors (10) shoulder will look backwards, the rear vehicle (2, 3) detect and respond adapted to reduce the risk. Almost any type of an acoustic warning can assist the driver (1) in this case.

Shows the driver (1) there is no reaction it is - alerted to an upcoming dangerous situation - in a second phase. As information equipment is now the steering wheel and / or the brake or accelerator pedal is used. For this purpose, the steering wheel and / or the corresponding pedal is set into a pulsating motion. This pulsing motion usually has no direct impact on the steering effect or vehicle acceleration. Possibly. is increased independently thereof for shortening the Bremsenansprechzeit example, the brake pressure.

Furthermore, it is also possible that the system is activated at a certain difference between indoor and outdoor temperature and / or starting from a certain humidity content of the interior air, the hot air fan and the ventilation grille (26) the side window at least dries in the area of ​​the exterior mirror to the viewing to improve the exterior mirrors. an active

Adjusting the grid slats for optimum warm air guide is also conceivable.

The pulsating or vibrating movement of the steering wheel or at least one of the pedals makes the driver (1) who has physical contact at least with the accelerator or the steering wheel so to provide a general or special vascular hrensitua- tion carefully. For example it may be prepared by the haptic steering wheel vibration forward to defuse with a steering movement, the dangerous situation. Additionally or alternatively, the driver's seat can be felt inclined in the direction at a entschärfbaren by directing hazardous situation in which the driver to steer. Possibly. the seat and / or Lehman can nenflache vibrate here also. the driver's left buttock the right buttock raised or lowered - also can be used instead of the seat inclination - for example, at a required steering to the right. The noticeable unilateral or wechselsei- term Hub may be in the millimeter range.

The optical signal from the first warning phase is emitted by a light source in the form of light (41-61). In the fi gures 3 to 7 such lamps are illustrated.

Figures 3 to 7 show, the inner left corner of the passenger compartment (20). It shows a part of the left-hand driver's door (23), the left-adjacent to the steering wheel part of the dashboard (22), the A-pillar (21) and a front of a mirror triangle (25) arranged outside mirror (30). The latter may in accordance with a vehicle for right or left-hand traffic - by the figures 1 and 2 - the outer mirror (10) or (18) to be.

In Figure 3, located on the interior lining of the A-pillar (21) has a recess (42) in which is arranged a Totwinkelleuchte (41). The recess (42) extends predominantly horizontally, for example along the A-pillar trim. The horizontally measured length of the lamp (41) in this example is about 60 to 80% of the local width of the A-pillar trim. The amount of, for example, diamond-shaped recess is for example, about 10 millimeters. The lateral boundaries (43) of the recess (42) or the Totwinkelleuchte (41) extend, for example, parallel to the respective nearest edges (44) of the A-pillar trim. The fitted into the recess warning lamp (41) is adapted to its visible outer edge of the space curvature of the A-pillar trim relative. The warning lamp (41) in addition to the passenger compartment (20) carried out slightly curved so that its middle portion protrudes mild fügig on spatial curvature of the A-pillar trim. The glow of the glass Totwinkelleuchte (41), for example, has a red warning color, as it has, among other things, the key of the hazard warning lights. Possibly. has the lamp glass in the unactuated state the color of the A-pillar trim. Depending on the panel type of lamps, for example, a light bulb or a light emitting diode when actuated by the A-pillar trim can shine through.

In vehicles without A-pillar trim the blind spot sitting light (41) directly into a into the hollow section of the A-column (21) incorporated recess.

Figure 4 shows a Totwinkelleuchte (45) integrated into the mirror glass (38) or behind the partially at least partially transparent mirror glass (38) is arranged in the mirror housing (31). Upon activation of the warning light (45), a stylized arrow (46) and a vehicle symbol (47) lights up. The arrow (46) comprises two equal-width and equal-length legs. The vertically measured height of the arrow (46) corresponds to approximately 30 to 50% of the vertical extent of the mirror glass. The plane spanned by the legs of the arrow triangle has a height which is approximately 20 to 30% of the aforementioned arrow expansion. The short height gives the spatial impression, that the arrow (46) into shows a warning to the blind spot region of the exterior mirror (30) from the driver. The between the arrow (46) and the body edge proximate mirror preferred car symbol (47) consists of a multiply bent strip and two circular rings disposed thereunder. The strip provides a simplified form, the upper edge of a car silhouette, while the two circular rings symbolize the vehicle wheels. 5 shows a Totwinkelleuchte (51) is located in the mirror triangle (25) in the form of a rearward, ie contrary to the direction of travel arrow pointing light. The length of the arrow (51) corresponds, for example about 40-60% of the measured length in the direction of travel of the mirror triangle. The rising height is approximately equal to the arrow length. The lighting glass of the arrow (51) is, for example over about 1 to 2 millimeters above the surrounding surface of the mirror triangle (25). For coloring is made to the description of Figure 3 and / or 4th

In Figures 6 and 7, the Totwinkelleuchten (55) and (61) also outside the passenger compartment on the exterior mirror (30) are mounted. Both warning lights (55, 61) are substantially oriented vertically in the mirror housing (31) in corresponding recesses arranged. Their measured in the vertical direction length is for example 5 to 10 times longer than its visible width.

According to Figure 6, the warning lamp (55) sitting in the example verti- cal portion of the mirror inner edge (32) which is furthest away from the passenger compartment. The light from the actuated warning light (55) reflected characterized additionally in the mirror glass (38), whereby the driver is animated amplified to look in the exterior mirror (30).

The warning light illustrated in FIG 7 (61) in the housing outer surface (33) of the mirror (30) towards the driver between the housing inner rim (32) and the mirror-housing-side attachment of the mirror base (36) is arranged.

The luminosity of the warning lights (41-61) will be adjusted if necessary to the surrounding brightness, that is, the brighter the area is more flash the warning lamp (41-61) is illuminated. The Leuchtenglaswerk- material may be a transparent plastic, glass or a comparable material. Possibly. is the glass lights at the same time the body of the light source such as the bulb of the incandescent lamp or the housing of a LED or an LED composite.

When using a right and a left side threat detection system this can interact or be independent from one another. Here, too, differences that occur can be evaluated. The hazard detection system can be designed as a complete th module that requires only a few vehicle data. Data exchange with the vehicle, for example, take place via a LIN or CAN bus. The module can be for example placed directly on or in the mirror housing. It may be, for example, firmly attached and also ensure good heat transfer, for example, the vehicle body.

The hazard detection system can also be used for the area in front of the vehicle. Optionally, the monitoring of the traffic Räumes can be integrated in front of the vehicle and behind the vehicle in a module. Using the threat detection system, pedestrians, traffic signs, special vehicles such as police, fire, etc. can then, for example, are detected.

The warning can be displayed by a lamp on

The edge of the driver's field of view is arranged. The warning is then, for example by flashing of light. The lamp, for example, an LED may be directed to the driver.

The hazard detection system can include, for example, a brightness detection. Example, it may switch from one day to a night mode, if necessary, coupled to the clock, and use the appropriate software program according to the mode. Also, for example, can be output or the threat detection system automatically adjust itself or compensated by the software misalignment with a misalignment of the Gefahrenerkennungssys- tems a warning message. Likewise, it is conceivable that, for example, Reich, the magnitude and the direction of the monitored loading is also Driver side adjustable or adjustable, for example by means of an operating display. The hazard detection system can also be self-adjusting.

The nature of the warning and, if the recognition system of Gefahrener- output control signal can be controlled by the extent of the danger. You can, for example, on the driving speed of the monitoring vehicle, the driving speed of the monitored vehicle in the danger zone, be dependent on the curve radius, etc..

The sensors (11, 15) can - as mentioned above - include a standard camera and commercially available optical lenses. These can then be arranged directly behind a disc in a housing. The electrical components are then formed as examples game specific to the risk detection system. for example, the single camera has a viewing angle of up to 60 degrees. The lenses may have a hydrophilic or water-repellent coating which is applied, for example as Langzeitbeschich- processing or will be renewed at purification.

The module can also be arranged in a region of the door which is exposed to moisture. The module can then be carried out 67, for example, with the protection IP. Here, the wiring is for example in the sealed area. In large-volume, sealed connectors can be dispensed with. The lens and CMOS electronics are then glued, for example in the case. The thermal expansions of the different device components are balanced, for example, with a Gore Tex ® seal. Here, a water-tightness is achieved on the one hand with the penetration of moisture is prevented, and secondly, the construction of a positive air pressure in the housing is prevented.

The software of the threat detection system can be customized. It can be programmed, for example, driverless or workshop other. Except for the threat detection system can be used for WEI direct applications in the vehicle. For example, an interface to the data network of the vehicle may be provided. Thus, an automatic balancing of the settings of the sensors (11, 15) in dependence on the loading of the motor vehicle (1) may for example be. Also different dene operating conditions or operator-specific settings can be pre-programmed, for example, depending on the specific field of vision. Here, the seating position of the driver, the driver's individual eyesight, the driver's ability to react, etc. can be considered for example.

To protect the sensors (11, 15) may be provided with an electro-mechanically-actuated fastener this example, which is closed at standstill of the vehicle (1). Also, a cleaning device for the lens, such as a wiper, spray nozzles, etc. is conceivable.

The speed of the object (2, 3) relative to the risk of the system carrying vehicle (1) can be minimal. Including an approximation of two approximately equal faster vehicles for example, can be detected in a lane change. In contrast, stationary vehicles also can be detected.

The hazard detection system, for example, warn and / or in front of restricted visibility. This can for example be polluter gently through a soiled lens, mists, etc. In any case, as the vehicle brake system, the vehicle steering system and / or other vehicle components can be influenced. For this, the threat detection system has, for example, both sensors (11, 15) the visible objects (2, 3) detect and infrared sensors. These functions mentioned may be close together also summarizes in a sensor (11, 15). The use of a night vision device in the threat detection system or in combination with this is conceivable.

The CMOS electronics of the signal generator produces a black and white image, for example. Thus, the generated image may have a high pixel density.

The warning signal may, as already mentioned, be optical, acoustic, haptic table etc.. Combinations of these signals are conceivable. The acoustic signals can be amplified for example via the audio system. For example, can be output depending on the level of danger a stronger acoustic, optical etc. signals. Also, a different sound or noise sequence, a plain text message, etc. is conceivable. The optical warning signal in the mirror triangle (25), for example designed as an arrow Totwinkelleuchte (51) is formed such that it to look in the mirror (10, 18) excites. The warning signal alone, therefore, does not give complete information about the risk and does not replace the view in one of the mirrors (10, 18).

The hazard detection system can perform self-diagnosis as to its function. Thus, it may regularly receive signals and to report back for example via the Datenverbmdungsleitung from the vehicle (1). Also a special diagnostic interface is conceivable. The units can be used both in law and in left-hand traffic.

The hazard detection system, for example, several vehicles (2, 3) monitor, detect the same time, and of potential hazards caused by such vehicles (2, 3) warn. Here, for example, a closer vehicle (3) as a primary risk and a more distant vehicle (2) can be judged as lower risk.

The individual mirrors (10, 18) may be mounted with its base. It can be largely insensitive to vibration, shock, etc.. Also, the sensors (11, 15) may then be integrated for example in the base plate. A Verstel- development of the mirror (10, 18) then does not affect the position of the sensors (11, 15). The setting of the sensors (11, 15) is then carried out for example by means of an adjusting screw on the outside of the mirror (10, 18).

The sensors (11, 15) may for example also on the roof, be disposed in the doors, in the rear window, in the trunk lid, etc.. Thus, the detection areas (12, 16) may have a large overlap.

The hazard detection system can be used in the normal temperature range. So even low temperatures and as partially frozen slices do not lead to failure, the risk recognition system. In order to reduce the influence of extremely high or extremely low Tempera.turen that Gefahrenerken- warning system may also include a heat and / or a cryoprotectant, heating, ventilation and / or a defroster for the lens. The individual components of the hazard detection system can also be electrically shielded. Herewith an electrical influence on the threat detection system is prevented by other vehicle components or electrical and / or magnetic fields in the vicinity of the vehicle (1). Also, no other vehicle components and the environment are electrically and / or mag- genetically influenced by the threat detection system.

The components of the risk detection system can be arranged in a housing which is protected against tampering. It may be, for example, sealed or with special bolts be closed. The housing may be, for example, made of die-cast aluminum with anodic coating as corrosion protection.

Is used as sensor (11, 15) used a camera, it can play examples comprise an autofocus. The optics of the camera is then for example set such that objects in the distant around the sensors (11, 15) do not influence. The brightness information of the captured by the camera can be used to control the brightness of the warning lamp (41-61) can be used. The warning lights (41-61) are for example arranged so that the operator can grasp without rotation of the head.

For installation of the hazard detection system in a motor vehicle for example, the standard mirror can be replaced by a mirror (10, 18), the components of the hazard detection system --asst environmentally.

The means of the sensors (11, 15) recorded images and the here- from identified information can be stored within the vehicle (1), for example together with the operating parameters of the vehicle. So in retrospect, an accident can be reconstructed. The data can also be transferred to a removable storage medium. Also, a wireless transmission, in real time or at regular intervals is also conceivable. The data can also already be compressed and processed here.

At least one of the sensors (11, 15) can also be arranged on a non-self-propelled vehicle such as a trailer, a semi-trailer, etc.. The attached vehicle is then connected to the data bus of the towing vehicle, optionally also via a wireless connection.

When towing a trailer and yaw oscillations of the trailer can be detected by means of the threat detection system, for example, before the trailer across faces the towing vehicle.

The hazard detection system can also be connected to other driver support systems such as Brake Assist, a lane change assistant, etc. Here, the hazard detection system can for example be fitted Toggle to the drive history. Recognizes as the lane change assist a lane change, can monitor the threat detection system according to the danger zone. Also, the image of one or more cameras of the lane change assistant for example, can be projected together with the image of one or more cameras of the threat detection system on the windscreen. a complete picture of the traffic behind space is then mapped to the so-called head-up display. Optionally, then entirely on the mirror (18 10) can be dispensed. Here, the threat detection system is then connected, for example with three wires to the in- ternal data bus and via a two-wire line to the head-up display.

In hazardous situations and, for example on the highway, the hazard detection system, optionally together with the other driver assistance systems, provide data to at least influence the steering of the vehicle.

The hazard detection system may also include other components corresponds hold such as exit lights, mirror elements controlled turn manure and / or coloring, heaters, etc. The data transfer and control can thereby over optical fibers, wireless, etc. take place. Even the threat detection system may include an access control, such as a Wärmeprofilüber- monitoring for keyless access to the vehicle.

The sensors (11, 15) may be arranged separately from the evaluation unit. The sensors (11, 15), for example, top or bottom of the mirror (10, 18) sit. They are then encrypted connected to the evaluation unit, which is arranged in the door in the frame, on the inside of the door, the mirror triangle (25), etc..

The hazard detection system can be disengaged. It can, for example when parking, when driving into a garage, in traffic, in slow-moving traffic, etc. off. The power cycle can be automatic or operated by the driver done.

LIST OF REFERENCE NUMBERS

1 with the vehicle threat detection system, car

2, 3 trucks, cars, objects 6 vehicle body

7 the direction of travel (1)

8 the direction of travel (2)

9 the direction of travel (3)

10 mirrors of (1) with sensor

11 Sensor in (10)

12 detection range of the sensor in (10)

13 Erfassungswmkelbegrenzungslmie (12) 14 rear lighting unit (1) with sensor

15 in sensor (14)

16 detection range of the sensor in (14)

17 Erfassungswmkelbegrenzungslmie (16)

18 mirrors, passenger side

20 passenger compartment

21 A-column

22 instrument panel driver's door 23

24 side windows

25 mirror triangle 26 27 Ventilation grille slats mirrors

mirror housings

Housing inner edge

Housing outer surface

mirror

mirror glass

Totwinkelleuchte in the A-pillar, warning lamp recess lateral boundaries edges of the A-pillar trim Totwinkelleuchte in the mirror glass, warning light arrow symbol vehicle icon

Totwinkelleuchte in the mirror triangle, warning light Totwinkelleuchte in the housing inner rim, warning light reflection of the lights light

Totwinkelleuchte in the housing outer surface, warning light

Lane three lanes left lane middle lane right lane

Claims

claims:
1. Hazard detection system for vehicles with at least one side and rear ambient detection, Umgebungsin ER- pretation and driver reaction support, wherein the environment detecting moving objects (2, 3) perceives that move relative to the threat detection system carrying vehicle (1),
- having at least two opposite to the direction of travel (7-9) or at an acute angle obliquely aligned therewith sensors or sensor groups (11, 15), wherein these are arranged offset to one another in the vehicle longitudinal direction,
- at least one analysis and interpretation unit per sensor or sensor group (11, 15) to determine geometry data and motion data of the or of the detected objects (2, 3),
- with at least a display unit (41-61) for each sensor or sensor group (11, 15),
- acting with at least one of the vehicle brake system, the vehicle steering system and / or other vehicle assemblies information, control and / or regulating device, the latter shall influenced by the analysis and interpretation units.
2. Hazard detection system according to claim 1, characterized in that the interpretation unit of the - at least one sensor (11, 15) detected - moving relatively to the vehicle (1) Object (2, 3) the direction of movement (8, 9), the moving speed and its amendment determined.
3. Hazard detection system according to claim 2, characterized in that the interpretation unit of the vehicle (1) from the direction of movement (7), the moving speed and alterations of this data or the detected objects (2, 3) a possible collision between the vehicle ( 1) and at least one object (2, 3) recognizes.
4. Hazard detection system according to claim 1, characterized in that the interpretation unit, at least one - of the sensor or sensors (11, 15) detected - the object (2, 3) classified with respect to its type.
5. hazard detection system according to claim 1, characterized in that the information device, the brake pedal of the vehicle (1) - pulsates at a collision detection or for the driver of the vehicle (1) initiates recognizable braking.
6. Hazard detection system according to claim 5, characterized in that the brake is a negative acceleration in the loading rich one tenth of the acceleration of gravity.
7. Hazard detection system according to claim 1, characterized in that the information device zeugs the steering wheel of the vehicle (1) - pulsates - in a collision detection.
8. hazard detection system according to claim 1, characterized in that the information means (41-61) at least one warning lamp comprises succeeded in forming ago in or near the blind spot of the vehicle outer mirror (30) object (2, 3) visually warns the warning lamp (41-61) is arranged at or in the region of the corresponding exterior mirror (30).
9. Hazard detection system according to claim 8, characterized in that the warning lamp (41-61) is a flash lamp.
10. Hazard detection system according to claim 1, marked thereby characterized, that the sensors (11, 15) comprise at least one camera.
11. Hazard detection system according to claim 1, marked thereby characterized, that the evaluation and interpretation unit can switch from a day to a night mode in dependence of the ambient brightness at least.
12. Hazard detection system according to claim 1, characterized in that the evaluation and interpretation unit comprises a data memory.
13. Hazard detection system according to claim 1, characterized in that it comprises a data interface.
14. Hazard detection system according to claim 1, characterized in that it comprises a self-diagnostic system.
is 15. Hazard detection system according to claim 1, characterized in that the output of the evaluation and interpretation unit control and / or warning signal is a function of the dynamic parameters of the monitoring and / or of the monitored vehicle.
16. Hazard detection system according to claim 1, characterized in that in poor visibility and / or deterioration of vision, a warning signal is output.
17. Hazard detection system according to claim 1, characterized in that it comprises at least one directed in the direction sensor system.
18. Hazard detection system according to claim 1, characterized in that it replaces at least one mirror (10, 18) of the vehicle (1).
19. GefahrenerkennungsS stem according to claim 1, characterized in that it comprises a traffic sign recognition.
20. Hazard detection system according to claim 1, characterized in that it comprises a night vision device.
EP04706607A 2003-01-30 2004-01-30 Danger recognition system for vehicles, comprising at least one lateral and rear environment detection unit Ceased EP1595161A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE10303578.8A DE10303578B4 (en) 2003-01-30 2003-01-30 Hazard detection system for vehicles with at least one side and rear environmental detection
DE10303578 2003-01-30
PCT/DE2004/000140 WO2004068164A2 (en) 2003-01-30 2004-01-30 Danger recognition system for vehicles, comprising at least one lateral and rear environment detection unit

Publications (1)

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EP1595161A2 true EP1595161A2 (en) 2005-11-16

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US (1) US20060250224A1 (en)
EP (1) EP1595161A2 (en)
JP (1) JP2006519427A (en)
KR (1) KR100935737B1 (en)
BR (1) BRPI0407036A (en)
DE (1) DE10303578B4 (en)
WO (1) WO2004068164A2 (en)

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KR100935737B1 (en) 2010-01-06
US20060250224A1 (en) 2006-11-09
KR20050103204A (en) 2005-10-27
JP2006519427A (en) 2006-08-24
WO2004068164A2 (en) 2004-08-12
BRPI0407036A (en) 2006-01-17
DE10303578B4 (en) 2015-08-13
DE10303578A1 (en) 2004-08-19
WO2004068164A3 (en) 2004-12-02

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