EP1751728B1 - Assistance system for motor vehicles - Google Patents

Assistance system for motor vehicles Download PDF

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Publication number
EP1751728B1
EP1751728B1 EP20050747888 EP05747888A EP1751728B1 EP 1751728 B1 EP1751728 B1 EP 1751728B1 EP 20050747888 EP20050747888 EP 20050747888 EP 05747888 A EP05747888 A EP 05747888A EP 1751728 B1 EP1751728 B1 EP 1751728B1
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EP
European Patent Office
Prior art keywords
warning
assistance system
system according
position
driver
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.)
Active
Application number
EP20050747888
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German (de)
French (fr)
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EP1751728A1 (en
Inventor
Gregory Baratoff
Ludwig Ertl
Thorsten KÖHLER
Martin Pellkofer
Andre Rieder
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Continental Automotive GmbH
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Continental Automotive GmbH
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Filing date
Publication date
Priority to DE200410026590 priority Critical patent/DE102004026590A1/en
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Priority to PCT/EP2005/052224 priority patent/WO2005119624A1/en
Publication of EP1751728A1 publication Critical patent/EP1751728A1/en
Application granted granted Critical
Publication of EP1751728B1 publication Critical patent/EP1751728B1/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication

Abstract

The invention relates to assistance system for motor vehicles (1) comprising at least one monitoring unit (4), which monitors the outside space (3), particularly in the direction of travel (2) of the motor vehicle (1). In the monitored outside space (3), a warning zone (10) is defined to the side of the roadway (14) and is delimited by an earliest warning line (11) and by a latest warning line (12) comprising the respective roadway marking (20) or delimitation. An evaluating unit (5) for evaluating the data conveyed by the monitoring unit (4) generates a warning signal for an acoustic, visual and/or haptic warning and/or a steering intervention in the event the evaluating unit (5) identifies that a defined warning threshold (13) located inside the warning zone (10) has be been surpassed. According to the invention, the warning signal for a warning and/or an intervention in the steering are/is output only according to other planned driver-adaptive conditions. To this end, inventive assistance systems are provided that advantageously take the needs of the driver into consideration and are thus perceived as being more convenient. Compared to prior art assistance systems, the invention results in a significant improvement in that the taking into consideration of driver-adaptive conditions advantageously increases the acceptance of systems of this type and, for the first time, leads to an economically attractive production.

Description

  • The invention relates to an assistance system for motor vehicles with at least one outdoor unit, in particular in the direction of travel of the motor vehicle, detecting monitoring unit.
  • Intelligent ADAS (Advanced Driver Assistance Systems) driver assistance systems will become more and more important in modern vehicles of the future. Future motor vehicles will contain, for example, monitoring units such as camera systems as aids which detect the outside space, for example in the direction of travel of the motor vehicle. First known system applications are based on lane recognition. These are:
    • Lane Departure Warning (LDW) lane departure warning, in particular acoustically, visually and / or haptically; such as
    • an LK (Lane Keep) steering intervention which keeps the vehicle on track.
  • One, if not the most common cause of accidents, especially on cross-country journeys, is the lane departure agreement. Reasons for this are e.g. Secondsleep, inattentiveness or the search for objects in the vehicle and the like. The Lane Departure Warning esp. By LDW systems should prevent this.
  • The document US 5,835,028 describes a driver assistance system which detects when a vehicle has reached a certain lateral distance from a lane. Here used parameters can be modified. An agreement from the track is signaled to the driver.
  • For LDW systems, an already very advanced draft of an ISO standard no. CD17361 exists, which is expected to change very little in terms of content:
    • If the wheels of the vehicle are within a defined warning zone 10, the so-called "warning zone", a warning must be issued, otherwise no warning may be issued (see Fig. 1). The defined warning zone 10 is limited by an earliest warning line 11, the so-called "earliest warning line", and a latest warning line 12, the so-called "latest warning line". The exact time of the warning within the zone 10 is determined by a definable warning threshold 13, the so-called "warning threshold". Between the defined warning zones lies the warning-indicating zone of a lane 14, the so-called "no warning zone".
  • The latest warning line 12 is in passenger cars at 0.3 m outside the lane marking 20, the so-called "lane boundary". The position of the earliest warning line 11 is dependent on the rate of departure V of the vehicle 1 to the lane boundary 20. FIG. 2 and FIG. 3 show the respective position in detail. These are 0.75 m at V less than 0.5 m / s, a linear increase from 0.75 to 1.5 m at V between 0.5 to 1 m / s and 1.5 m at V greater than 1 m / s. .
  • The draft of the ISO standard specifies conditions under which the location of the warning threshold can be moved within the defined warning zone or the warning can be completely suppressed.
  • The warning can be suppressed, for example, in the following cases:
    • the driver operates the turn signal lever;
    • the driver depresses the brake pedal;
    • the driver performs a high priority maneuver, such as an evasive or braking maneuver;
    • the speed of the vehicle is below a threshold (eg 17 m / s = 61.2 km / h), which serves to suppress false alarms in the city center area; and or
    • if other warnings are already issued; which serves to suppress multiple warnings.
  • The position or position of the warning threshold 13 can be moved according to the ISO-Draft in the following cases within the defined warning zone 10:
    • once due to a manual adjustment by the driver; and or
    • in a curve to the outside to avoid warnings when cutting curves ("curve cutting").
  • Finally, the system can be activated and deactivated by the driver as a whole.
  • The present invention has for its object to provide an improved, avoiding the aforementioned disadvantages assistance system. In particular, measures must be specified which increase the sensitivity of the system and, to that extent, the acceptance of such systems.
  • This object is achieved by the features of independent claim 1.
  • Advantageous embodiments and developments, which can be used individually or in combination with each other, are the subject of the dependent claims.
  • The invention are generic assistance systems for motor vehicles with at least one outdoor space, in particular in the direction of travel of the motor vehicle, detecting monitoring unit based. In this case, a warning zone is defined in the monitored exterior space laterally of the roadway, which is bounded by an earliest warning line and a latest warning line, the respective lane marking or limit. An evaluation unit for the data transmitted by the monitoring unit generates a warning signal for an audible, visual and / or haptic warning and / or a steering intervention when it is detected by the evaluation unit when it passes a defined warning threshold within the warning zone.
  • The assistance system according to the invention builds on the generic in that the warning signal for a warning and / or an intervention in the steering is issued only in response to further scheduled driver-adaptive conditions.
  • The issuing of warnings and / or steering interventions, which depends on scheduled driver-adaptive conditions, advantageously increases the acceptance of such systems, in particular, since they seem to respond to the needs of the driver and are perceived to be more pleasant to that extent.
  • Preferably, e.g. Suppresses the output of the warning signal in a time adjustable by the driver after driving off. Experience shows that e.g. during the first hour of driving any warnings the (still) attentive driver rather annoying. Also, first signs of fatigue do not set in until one hour or more has elapsed.
  • Alternatively or cumulatively, the output of warning signals in a time-dependent area is suppressed. For example, the assistance system according to the invention preferably warns immediately from 5:00 pm to 7:00 am in the morning; from 7:00 am to 5:00 pm the warning will be given one hour after the start of the journey. These periods can also be designed by the user adaptable, which is not only advantageous for shift workers.
  • According to the position of the warning threshold is shifted over time from a defined starting position in the direction of earliest first warning line. In particular, either after an adjustable period of time to start to move the warning threshold, and / or the warning threshold is continuously shifted over the set period from an outer position within the allowable warning zone towards the earliest warning line. The end position of the position of the warning threshold would then be advantageously a defined by the driver or vehicle manufacturer defined threshold position ("default position").
  • Preferably, the period for the suppression of the warning or the shift of the position of the warning threshold also depends on the weather and the lighting conditions.
  • The weather can preferably be assessed on the basis of the time of day and / or - as far as the monitoring unit comprises a camera system - on the basis of the exposure control set camera parameters such as exposure time, gain, shape of the curve, etc. The assessment can be stored for example in the form of a table in the device. If the exposure times in relation to the time of day are to be classified as long, ie there are "dark" lighting conditions, the warning threshold can be shifted in the direction of the earliest warning line, which equates to an increase in sensitivity.
  • Appropriately, the starting position and / or the change in position of the warning threshold can also be moved depending on the calendar date.
  • Alternatively or cumulatively, in particular, the position of the warning threshold is shifted depending on the activation of a windshield wiper lever or the signal of a rain sensor. These settings or values are present in modern motor vehicles, for example on the CAN bus of the vehicle, which advantageously further increases the sensitivity of the assistance system.
  • In a further preferred embodiment of the invention, the number of exceedances of the warning threshold is measured, for example, per minute or in another defined time unit and a warning signal only when exceeding a further threshold, for example 2 injuries per minute output.
  • Alternatively or cumulatively, with each exceeding of the warning threshold or the further threshold, the position of the warning threshold is shifted in the direction of the earliest first warning line, which advantageously leads to a more sensitively set warning threshold.
  • In a further preferred embodiment of the invention, the starting position and / or the change in position of the warning threshold can be individually adapted to a defined driver. For example, the position of the vehicle on the lane is measured and statistically evaluated over an adjustable period of time. From this, the behavior of the driver can advantageously be derived. Depending on the driver, the warning threshold is rather set to "sensitive" or "insensitive". For drivers, who usually drive close to the center of the lane, this leads to a more sensitive attitude than for drivers who commute more in the lane. Advantageously, the described adaptation can in principle be made within certain limits in order to detect different states of the same driver. Example: in the morning the driver is still fresh and drives precisely on the track. In the evening, the driver is tired and reacts only after larger shelves of the lane center. In addition, the described adaptation can be made individually for each driver. The individual data values are then stored in the system. After a driver identification (eg by the used key, the fingerprint and / or by means of a face recognition) the driver-specific parameterization is made.
  • In a further embodiment of the system, the warning threshold is set as a function of the width of the lane. On narrow lanes, the warning threshold is placed further out ("less sensitive"), on wide lanes further inwards ("more sensitive").
  • In another embodiment of the system, the warning threshold is set depending on the road type. If it is a highway with oncoming traffic, the system on the left side of the lane is more sensitive, it is a multi-lane highway (detected adjacent lanes with the same direction of travel), so the system can be adjusted insensitive. For this purpose, an additional vehicle detection by means of the camera would be necessary.
  • In another embodiment of the system, the area next to the camera is another camera or sensor Vehicle monitored, ie only left, only right or left and right. The range can be about 9 m (blind spot) or more (up to 150 m). If at least one vehicle is detected next to one's own vehicle or at least one vehicle which approaches quickly from behind on another lane or one's own lane, the warning threshold can be set more sensitively, which advantageously equates to risk-adaptive parameterization.
  • In another embodiment of the system, a camera or other system detects vehicles ahead, determines the distance and relative speed thereto, and thus recognizes overtaking to suppress warnings. Another similar scenario is the Einschervorgang for example, following an overtaking.
  • In another embodiment of the system, signs of driver fatigue that provide other sensors are evaluated. If the driver shows signs of tiredness, the system can be set more "sensitive". Known sensors / methods for detecting fatigue are: interior camera for detecting the blink of an eye, frequency of movement of gas, clutch, brake and steering wheel or the like.
  • In a further embodiment of the system, depending on the strategic orientation of the LDW system with activated handsfree either the system completely only esp. For audible warnings disabled (as the driver is not asleep) or targeted only warning signals for visual warnings issued (as drivers may through conversation still inattentive).
  • Other reasons in addition to the operation of telephone for a possibly temporary suppression of warnings are: operation of on-board computer, radio, air conditioning or other complex operations, ie in situations where the driver is demonstrably not close to falling asleep.
  • In a further embodiment of the system, the warning in curves can basically be deactivated and / or modified in order to avoid false warnings (corner cutting), especially since cornering in principle demands increased attention from the driver anyway. For example, the radius of the curve ahead can be recognized and estimated by means of vehicle dynamics models, whether the vehicle could drive through the curve at the current speed. In the special case of danger, a warning could also be issued before reaching the warning threshold and / or intervened in the steering, brakes, etc. of the motor vehicle.
  • Compared with the known assistance systems, an important improvement is advantageously made with the present invention in that the consideration of driver-adaptive conditions advantageously increases the acceptance of such systems and leads to economically interesting products.
  • Additional details and further advantages of the invention will be described below with reference to a preferred embodiment and the accompanying drawings.
  • In it show schematically:
  • Fig. 1
    a motor vehicle equipped with an assistance system according to the invention in its vehicle environment;
    Fig. 2
    the varying distance of the earliest warning line to the lane boundary as a function of the approach speed of the motor vehicle; and
    Fig. 3
    in tabular form corresponding to Fig. 2 sizes.
  • Fig. 1 shows a motor vehicle 1 with its vehicle environment 3. The motor vehicle is equipped with an assistance system according to the invention. The assistance system comprises at least one monitoring unit 4 which detects the exterior space 3, in particular in the direction of travel 2 of the motor vehicle 1. Monitoring units 4 are preferably units with 2D or 3D image acquisition sensors such as mono-, stereo- and / or time-of-flight cameras, ultrasound sensors, radar sensors , Lidarsensoren and / or the like more. In the monitored exterior space 3 of the motor vehicle 1, a warning zone 10 is defined laterally of the roadway 14, which is delimited by an earliest warning line 11 and a latest warning line 12 comprising the respective lane marking or boundary 20.
  • The principle of the invention is described below with reference to an image acquisition unit 4, which is preferably a camera. This is for example in the roof area of the motor vehicle 1 near the Innenspiegelfußes (not shown) installed and has a horizontal opening angle of about 50 ° and a vertical opening angle of about 30 °.
  • An image processing computer (BV computer) may be part of a central evaluation unit 5 and / or be completely or partially integrated in the housing of the camera 4. By means of the BV computer, the camera sensor data are evaluated, for example the lane markings 20 are detected and the position and the angle of the vehicle 1 relative to the lane 14 and the radius of curvature of the lane 14 are calculated. The BV computer is connected, for example, via CAN bus to the vehicle and can according to the invention preferably read values such as speed, brake signal, turn signals, steering angles and, if available, evaluations of other sensors, such as "blind spot" camera, ACC radar and the like.
  • When detected by the evaluation unit 5 driving over a defined, within the warning zone 10 lying - changeable in terms of their sensitivity - warning threshold 13 by the motor vehicle 1, the evaluation unit 5 generates a warning signal for the data transmitted from the monitoring unit 4 data.
  • As described in the dependent claims, the sensitivity may depend on a wide variety of parameters, including, for example, the variability of the size of the warning zone 10 by situationally varying positioning of these limiting warning lines 11 and 12.
  • FIG. 2 shows the varying distance of the earliest warning line 11 to the lane boundary 20 as a function of the approach speed V of the motor vehicle 1. FIG. 3 shows in tabular form the corresponding quantities plotted in FIG. 2.
  • According to the warning signal for an alarm and / or an intervention in the steering are issued only as a function of other scheduled driver-adaptive conditions, which inventive assistance systems advantageously take into account the needs of the driver and are perceived as more pleasant.
  • Compared to known assistance systems, the present invention provides an important improvement insofar as the consideration of driver-adaptive conditions advantageously increases the acceptance of such systems and leads for the first time to economically interesting products.

Claims (26)

  1. Assistance system for motor vehicles (1) having at least one monitoring unit (4) monitoring the external space (3), in particular in the direction of travel (2) of the motor vehicle (1), with a warning zone (10) being defined in the monitored external space (3) on each side of the lane (14), which warning zone (10) is delimited by an earliest warning line (11) and a latest warning line (12) encompassing the respective lane marking or, as the case may be, boundary (20),
    wherein
    an evaluation unit (5) for the data transmitted by the monitoring unit (4) generates a warning signal for an acoustic, visual and/or haptic warning and/or a steering intervention if said evaluation unit (5) detects that a defined warning threshold (13) lying within the warning zone (10) is exceeded, which warning signal is issued only as a function of further planned driver-adaptive conditions,
    characterised in that
    the position of the warning threshold (13) is moved from a defined starting position over time in the direction of the earliest first warning line (11).
  2. Assistance system according to claim 1,
    characterised in that
    the issuing of the warning signal is suppressed during a driver-adjustable period of time after the start of the journey.
  3. Assistance system according to claim 1 or 2, wherein the issuing of the warning signal is suppressed during a period of time dependent on the time of day.
  4. Assistance system according to claim 2, wherein the position of the warning threshold (13) is moved after an adjustable period of time.
  5. Assistance system according to claim 4, wherein the position of the warning threshold (13) is moved continuously over a set period of time.
  6. Assistance system according to one of claims 2 to 5, wherein the end position of the placing of the warning threshold (13) is a defined threshold position which can be adjusted by the driver or the vehicle manufacturer.
  7. Assistance system according to one of the preceding claims, wherein the period of time for suppression of the warning or, as the case may be, the moving of the position of the warning threshold (13) is dependent on weather and/or lighting conditions.
  8. Assistance system according to claim 7, the monitoring unit (5) preferably including a camera system (5), wherein the weather is assessed on the basis of the time of day and/or the camera parameters set by the exposure controller, such as exposure time, gain and/or shape of the characteristic curve.
  9. Assistance system according to one of claims 2 to 8, wherein the starting position and/or the change in position of the warning threshold (13) is moved as a function of the calendar date.
  10. Assistance system according to one of claims 2 to 9, wherein the position of the warning threshold (13) is moved as a function of the activation of a windscreen wiper lever or of the signal from a rain sensor.
  11. Assistance system according to one of the preceding claims, wherein the number of times the warning threshold (13) is exceeded, per minute, for example, or in another defined time unit, is measured and a warning signal issued only if a further threshold is exceeded.
  12. Assistance system according to one of the preceding claims, wherein each time the warning threshold (13) or the further threshold is exceeded, the position of the warning threshold (13) is moved in the direction of the earliest first warning line (11).
  13. Assistance system according to one of the preceding claims, wherein the position of the warning threshold (13) can be adjusted individually to match a defined driver.
  14. Assistance system according to claim 13, wherein the position of the vehicle on the driving lane is measured over an adjustable period of time and evaluated statistically in such a way that conclusions can be derived about a typical behaviour of a driver and as a function hereof the starting position and/or any changes to the position of the warning threshold (13) can be set.
  15. Assistance system according to claim 13 or 14, wherein individual data values are stored in a memory and the driver-specific parameterisation is performed following identification of the driver.
  16. Assistance system according to claim 15, wherein the driver identification is checked on the basis of the key used, the fingerprint and/or by means of face recognition.
  17. Assistance system according to one of the preceding claims, wherein the starting position of the warning threshold (13) depends on the width of the lane driven in.
  18. Assistance system according to one of the preceding claims, wherein the starting position of the warning threshold (13) depends on the type of road driven on.
  19. Assistance system according to one of the preceding claims, a further camera or another sensor being provided for monitoring the side area near the motor vehicle (1), wherein the position of the warning threshold (13) is changed as a function hereof.
  20. Assistance system according to one of the preceding claims, wherein vehicles ahead and their distance and/or their speed relative to the motor vehicle (1) fitted with the assistance system are detected.
  21. Assistance system according to claim 20, wherein the issuing of the warning signal is suppressed if an overtaking manoeuvre is detected and/or if the assistance system motor vehicle (1) performs a manoeuvre to get back into the driving lane.
  22. Assistance system according to one of the preceding claims, sensors being provided which detect signs of tiredness in the driver, wherein the position of the warning threshold (13) is modified and/or the issuing of a warning is activated as a function hereof.
  23. Assistance system according to one of the preceding claims, wherein the issuing of the warning signal for an acoustic warning is suppressed if a handsfree device is activated.
  24. Assistance system according to one of the preceding claims, wherein only warning signals for visual warnings are issued if the handsfree device is activated.
  25. Assistance system according to one of the preceding claims, wherein the issuing of a warning is suppressed if operation of a telephone, onboard computer, radio, air conditioning system or other more complex operations is or are detected.
  26. Assistance system according to one of the preceding claims, the radius of a curve ahead being detected and/or estimated by means of driving dynamics models, wherein the issuing of a warning is suppressed if the negotiation of a curve by the motor vehicle (1) is detected.
EP20050747888 2004-06-01 2005-05-13 Assistance system for motor vehicles Active EP1751728B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE200410026590 DE102004026590A1 (en) 2004-06-01 2004-06-01 Assistance system for motor vehicles
PCT/EP2005/052224 WO2005119624A1 (en) 2004-06-01 2005-05-13 Assistance system for motor vehicles

Publications (2)

Publication Number Publication Date
EP1751728A1 EP1751728A1 (en) 2007-02-14
EP1751728B1 true EP1751728B1 (en) 2008-01-02

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US (1) US7737832B2 (en)
EP (1) EP1751728B1 (en)
JP (1) JP4320045B2 (en)
AT (1) AT382927T (en)
DE (2) DE102004026590A1 (en)
ES (1) ES2300026T3 (en)
WO (1) WO2005119624A1 (en)

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US7737832B2 (en) 2010-06-15
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US20080024284A1 (en) 2008-01-31
EP1751728A1 (en) 2007-02-14
DE102004026590A1 (en) 2006-01-12
ES2300026T3 (en) 2008-06-01
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AT382927T (en) 2008-01-15
DE502005002421D1 (en) 2008-02-14

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