EP1791101A1 - Method and apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle of said condition of danger - Google Patents
Method and apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle of said condition of danger Download PDFInfo
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- EP1791101A1 EP1791101A1 EP05425841A EP05425841A EP1791101A1 EP 1791101 A1 EP1791101 A1 EP 1791101A1 EP 05425841 A EP05425841 A EP 05425841A EP 05425841 A EP05425841 A EP 05425841A EP 1791101 A1 EP1791101 A1 EP 1791101A1
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 33
- 238000006073 displacement reaction Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 8
- 238000012795 verification Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 239000013598 vector Substances 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
Definitions
- the present invention relates to a method and an apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle, in particular a motor vehicle, of said condition of danger.
- the aim of the present invention is hence to provide an apparatus that will enable detection and advanced warning to the driver of the vehicle of a condition of danger due to the presence of vulnerable road users.
- the above aim is achieved by the present invention in so far as it regards a method designed to detect, and warn the driver of a vehicle of, a condition of danger originating from the presence of vulnerable road users, according to what is specified in Claim 1 and, preferably, in any one of the subsequent claims that depend directly or indirectly upon Claim 1.
- an apparatus designed to detect ,and warn the driver of a vehicle of, a condition of danger deriving from the presence of vulnerable road users, according to what is specified in Claim 10 and, preferably, in any one of the subsequent claims that depend directly or indirectly upon Claim 10.
- number 1 designates as a whole an apparatus having the function of detecting, and warning the driver of a vehicle 2 of, a condition of danger associated to a collision or impact that may occur between the vehicle 2 and one or more vulnerable road users 3 (only one of which, for reasons of simplicity of description, is shown in Figure 1) so as to achieve a greater road safety for the users 3. It remains, however, clear that said apparatus 1 is able to operate in the presence of any number of vulnerable road users 3.
- the apparatus 1 is able to implement the following operations: detecting the presence of one or more vulnerable road users 3 in an area within which displacement of the vehicle 2 occurs; calculating a set of kinematic parameters correlated to the position and to the displacement of the vehicle 2 and of the user 3 within the area; verifying, on the basis of a set of comparisons between the displacements of the vehicle 2 and the displacements performed by the user 3, whether there exists or not a condition of potential impact between the two; and, in the case where said condition of impact is ascertained, warning the driver of the vehicle 2 of a condition of danger so as to warn him, in sufficient advance, of the possible impact between the vehicle 2 and the vulnerable road user 3.
- the apparatus 1 basically comprises: an identification device 4, which is designed to be carried or worn by a vulnerable road user 3, corresponding, for example, to a pedestrian, and/or to a cyclist, and/or to a motorcyclist, etc.; and a warning apparatus 5, which is installed on board the vehicle 2, and has the function of identifying the position and the displacement of the identification device 4 worn by the user 3, and of comparing said information with the position and the displacement of the vehicle 2, in such a way as to be able to foresee, on the basis of said comparison, a possible condition of impact between the vehicle 2 and the user 3.
- an identification device 4 which is designed to be carried or worn by a vulnerable road user 3, corresponding, for example, to a pedestrian, and/or to a cyclist, and/or to a motorcyclist, etc.
- a warning apparatus 5 which is installed on board the vehicle 2, and has the function of identifying the position and the displacement of the identification device 4 worn by the user 3, and of comparing said information with the position and the displacement of the vehicle 2, in such a
- the identification device 4 that can be worn by the user 3 may be, for example, a transponder (TAG), preferably, but not necessarily, of a passive type, which is activated following upon reception of an inquiry signal, and has the function of transmitting to the warning apparatus 5 a response signal to enable identification of the position of the user 3, as well as identification of the kind of user.
- TAG transponder
- the identification device 4 can be provided with a storage module 6 containing an identification code associated preferably, but not necessarily, to the type of user (pedestrian, cyclist, motorcyclist), and a transceiver module 7, which is able to receive and/or transmit radiofrequency signals to and from the warning apparatus 5.
- a storage module 6 containing an identification code associated preferably, but not necessarily, to the type of user (pedestrian, cyclist, motorcyclist), and a transceiver module 7, which is able to receive and/or transmit radiofrequency signals to and from the warning apparatus 5.
- the warning apparatus 5 comprises a transceiver device 8, constituted, for example, by a known electronic circuit that is able to transmit and receive radiofrequency signals, which is designed to transmit the inquiry signal to the identification device 4 and to receive from the latter the response signal identifying the user.
- the warning apparatus 5 further comprises, preferably but not necessarily, a satellite positioning device 9, for example a GPS (Global Positioning System) module capable of determining the instantaneous position of the vehicle 2 (in terms of longitude and latitude) with respect to a pre-set reference system, and an electronic control unit 10, which implements a set of operations (described in detail hereinafter) for verification and comparison of the displacements between the vehicle and the user, on the basis of which the possible condition of danger is identified.
- a satellite positioning device 9 for example a GPS (Global Positioning System) module capable of determining the instantaneous position of the vehicle 2 (in terms of longitude and latitude) with respect to a pre-set reference system
- an electronic control unit 10 which implements a set of operations (described in detail hereinafter) for verification and comparison of the displacements between the vehicle and the user, on the basis of which the possible condition of danger is identified.
- the electronic control unit 10 can be constituted by an electronic control unit capable of co-operating with a HMI (Human-Machine Interface) device 11 present on board the vehicle 2 so as to warn, through the latter, the driver of the vehicle 2 of the condition of danger.
- HMI Human-Machine Interface
- the electronic control unit 10 comprises: a control module 12, which cooperates with the transceiver device 8 for managing the transmission/reception of the radiofrequency signals from and to the identification device 4; a calculation module 13, which processes the response signal received by the control module 12 to determine (with the modalities described in detail hereinafter) a set of kinematic parameters associated to the user 3, such as position, speed, and acceleration.
- the electronic control unit 10 further comprises: a detection module 14, which detects a set of kinematic parameters of the vehicle 2, such as, for example, the position, speed and acceleration; and a storage module 15, which contains a geographical map of the area involved in the displacement of the vehicle 2 and of the user 3.
- the geographical map can contain a digital geographical representation (i.e., in an electronic format), in which are indicated the real elements and/or objects present in the geographical area represented.
- the real elements and/or objects can comprise for instance roads, car parks, service areas, buildings, bridges, squares, green areas, cycle tracks, pavements, etc.
- said elements and/or objects are described within the digital geographical map on the basis of their geometrical characteristics, such as for example their position with respect to a pre-set reference system, the perimeter or the area occupied, and on the basis of other properties of an operative type, such as for example the state of accessibility of the object.
- the electronic control unit 10 further comprises: a processing module 16, which is capable of determining the positions and the displacements of the user 3 and of the vehicle 2 within the geographical map contained in the storage module 15 in order to verify, as a function of the outcome of said processing, whether there exists or not a condition of danger; and a warning module 17, which sends to the HMI device 11 the signal warning of danger to be supplied to the driver of the vehicle 2.
- a processing module 16 which is capable of determining the positions and the displacements of the user 3 and of the vehicle 2 within the geographical map contained in the storage module 15 in order to verify, as a function of the outcome of said processing, whether there exists or not a condition of danger
- a warning module 17 which sends to the HMI device 11 the signal warning of danger to be supplied to the driver of the vehicle 2.
- the identification device 4 can be provided with a warning module 4a for warning the user 3 of a condition of danger detected by the warning apparatus 5.
- the warning module 17 in addition to activating the warning of danger to the driver of the vehicle through the HMI device 11, operates a command for transmission of a signal that encodes said condition of danger.
- Said signal is designed to be received by the transceiver module 7 and is converted into an acoustic and/or visual and/or vibrational message by the warning module 4a comprised in the identification device 4.
- the warning module 4a comprised in the identification device 4 could comprise an acoustic and/or visual and/or vibrational message device designed to warn the user of the possible condition of impact with the vehicle 2.
- the electronic control unit 10 controls transmission of the inquiry signal (block 100) via the transceiver device 8, and remains in a temporary condition of waiting (block 110) for detection of a response signal by at least one identification device 4 worn by a user 3 present within an area that surrounds the path of the vehicle 2.
- control module 12 In this step, if the control module 12 does not receive at input any response signal transmitted by the identification device 4 (output NO from block 110), then it transmits, after a pre-set time interval (block 120), a new inquiry signal.
- control block 12 receives a response signal transmitted by the identification device 4 (output YES from block 110), then the calculation module 13 identifies the presence of a vulnerable road user 3 and accordingly processes the radiofrequency response signal to determine a set of kinematic quantities such as for example the position, speed, and possibly acceleration of the user 3, and preferably, but not necessarily, the type of user (block 130).
- a set of kinematic quantities such as for example the position, speed, and possibly acceleration of the user 3, and preferably, but not necessarily, the type of user (block 130).
- the detection module 14 measures a set of vehicle parameters to supply a set of information regarding the position, speed and acceleration of the vehicle 2 to the processing module 16, which verifies whether there exists a correspondence between the positions of the vehicle and of the user and the objects indicated in the digital map. If the processing module 16 identifies said correspondence, it then represents the vehicle 2 and the user 3 on the digital geographical map stored in the storage module 15 (block 140) according to the respective positions calculated.
- the processing module 16 identifies on the digital geographical map the objects or elements which the user 3 and the vehicle 2 occupy.
- the user 3 could occupy an object corresponding to a road, or an object corresponding to a cycle track, or an object corresponding to a car park, etc.
- the vehicle 2 could occupy an object corresponding to a road, or else an object corresponding to a bridge, or an object corresponding to a car park, etc.
- the processing module 16 verifies the presence/absence of a possible situation of impact between the vehicle and the user, and hence a condition of danger.
- the processing module 16 makes a forecast of the paths that will be followed by the vehicle 2 and by the user 3 and, on the basis of the points of intersection of the paths and as a function of the speed of the vehicle 2 and of the user 3, determines the presence/absence of a condition of danger deriving from an impact between the user and the vehicle.
- the processing module 16 identifies a condition of absence of danger (output NO from block 160), whilst otherwise, i.e., in the case where a condition of danger due to impact is forecast, the warning module 17 warns the driver of the vehicle 2, through the HMI device 11, of the condition of danger (block 170).
- the warning module 17 transmits the danger signal to the identification device 4, which issues to the user 3 an acoustic and/or visual and/or vibrational warning of the presence of the danger of impact (block 180).
- the processing module 16 verifies whether there exists an effective correspondence between the positions assumed by the vehicle 2 and by the user 3 and the objects and/or elements represented within the digital geographical map (block 200). In the case where said correspondence has a negative outcome, i.e., if, on account of their positions, the vehicle 2 and/or the user 3 do not find a correspondence, i.e., they cannot be represented within the geographical map (output NO from block 200), then the processing module 16 processes the kinematic parameters of the vehicle 2 and of the user 3 in order to predict the path that will be followed by the user 3 and by the vehicle 2 starting from their respective positions previously determined (block 210).
- the processing module 16 moreover determines a set of safety parameters, such as the point of intersection P T between the path of the vehicle 2 and the path of the user 3, a safety distance r s (described hereinafter) that must be maintained between the vehicle 2 and the user 3 to guarantee safety of the latter, and a stopping distance d s for arrest of the vehicle 2.
- a set of safety parameters such as the point of intersection P T between the path of the vehicle 2 and the path of the user 3, a safety distance r s (described hereinafter) that must be maintained between the vehicle 2 and the user 3 to guarantee safety of the latter, and a stopping distance d s for arrest of the vehicle 2.
- the stopping distance d s of the vehicle 2 represents the total distance along which the vehicle 2 is travelling between the initial instant, in which the driver has the perception of the presence of a user 3 on the road along which the vehicle 2 is travelling, and the final instant, in which the vehicle 2 stops following upon a stop command imparted by the driver of the vehicle 2 itself.
- the stopping distance d s can be determined through a table contained in the storage module 15 and as a function of a set of parameters such as the speed of the vehicle 2, the model of vehicle 2 (determined via a customization of the system), the driving skill of the driver (determined via a set of information associated to the driving "historic file” of the driver), the type of road along which the vehicle is travelling, and the external environmental conditions (which can be determined via a sensor for detection of the state of the road).
- the stopping distances d s included in the table can be determined by measuring the stopping distances d S as the parameters indicated above vary and by implementing on the data thus obtained a statistic calculation procedure.
- this corresponds to the minimum distance required between the vehicle 2 and a user 3 along a stretch of road, below which a condition of danger for the user 3 arises.
- the processing module 16 determines the safety distance r s on the basis of the stopping distance d s .
- the coefficient c v can also be stored in a table that represents a biunique function between the coefficients c v and the type of road users 3. Said table can be contained in the storage module 15 in such a way as to be accessible by the processing module 16 during calculation of the safety distance r s .
- the processing module 16 verifies whether the distance measured between the vehicle 2 and the point of intersection P T of the paths is smaller than the safety distance r s and at the same time whether the speed of the vehicle 2 and the speed of the user 3 are such as to be able to cause an impact between the vehicle and the user in the point of intersection P T itself (block 220).
- output NO from block 220 If the verification has a negative outcome (output NO from block 220), i.e., if the distance measured between the vehicle 2 and the point of intersection P T is greater than the safety distance r s , and the speed of the vehicle 2 and of the user 3 along the respective paths are such as not to be able to cause an impact between the vehicle and the user in the point of intersection P T itself, then a condition of absence of danger is determined.
- the processing module 16 verifies whether the object or element in which the user 3 is located is or is not contiguous, i.e., adjacent, to the road along which the vehicle 2 is travelling (block 240).
- the geographical element of the map corresponding, for example, to a cycle track is contiguous to the road if the following two conditions arise: if the intersection between the object, i.e., the cycle track, and a corridor of width D that develops along the road is not empty, and if there does not exist any physical separation that will prevent the user travelling along the cycle track from entering the road along which the vehicle 2 is travelling.
- the processing module 16 determines the safety distance r s in the modalities described above, and the point P s of intersection between the road along which the vehicle 2 is travelling and the path of the user 3 (block 250).
- the processing module 16 verifies whether the distance between the vehicle 2 and the point of intersection P s is smaller than the safety distance r s .
- the processing module 16 performs a forecast of the path followed by the vehicle 2 and of the path followed by the user 3, calculates the point of intersection P T between the paths and determines the safety distance r S implementing the operations described above (block 270).
- the processing element 16 implements the same operations as those of block 220, i.e., it verifies whether the distance measured between the vehicle 2 and the point of intersection P T of the paths is smaller than the safety distance r s and, at the same time, checks whether the speed of the vehicle 2 and the speed of the user 3 are such as to be able to cause an impact between the vehicle and the user in the point of intersection P T itself (block 280).
- the processing module 16 verifies whether the position of the user is comprised within the corridor of pre-set width D and whether the user 3 is at a distance from the vehicle smaller than the safety distance r s (block 290).
- the processing module 16 detects a condition of absence of danger.
- the apparatus 1 is capable of measuring a set of quantities provided hereinafter.
- the apparatus 1 is able to determine the vectors C - A and D - B , which represent both the distances C-A and D-B of the user 3 with respect to the vehicle 2 in two successive instants t 1 and t 2 and the directions along which the distances C-A and D-B are determined with respect to the direction of displacement of the vehicle 2, where C and D are the positions of the user 3 in the two instants t 1 and t 2 , A is the position of the vehicle 2 at the instant t 1 and B is the position of the vehicle 2 at the instant t 2 .
- the processing module 16 of the apparatus 1 determines the vectors C - A and D - B , processing in a known way (and consequently not described in detail) the time of flight associated to the radiofrequency signals exchanged between the warning apparatus 5 and the identification device 4.
- the apparatus 1 determines the vectors C - A and C - B that indicate both the distances C-A and C-B of the user 3 with respect to the vehicle 2 in two successive instants t 1 and t 2 and the directions along which the distances C-A and C-B are determined with respect to the direction of displacement of the vehicle 2, where C is the position of the user 3, A is the position of the vehicle 2 at the instant t 1 , and B is the position of the vehicle 2 at the instant t 2 . Also here the processing module 16 of the apparatus 1 determines the vectors C - A and C - B , processing in a known way (and consequently not described in detail) the time of flight associated to the radiofrequency signals exchanged between the warning apparatus 5 and the identification device 4.
- the apparatus 1 is provided with a satellite positioning device 9, it is then able to determine also the vector B - A indicating the distance between the positions A and B assumed by the vehicle in the two consecutive instants t 1 and t 2 , its direction of displacement with respect to a pre-set reference system, and the speed V a and V b of the vehicle 2 in the two instants t 1 and t 2 .
- the apparatus 1 co-operates with a set of directional antennas (not illustrated), such as for example a plurality of smart antennas arranged on the vehicle according to a pre-set known geometrical configuration (for example, according to a circular geometrical configuration), it is capable of detecting also the angles ⁇ 1 and ⁇ 2 that form the direction of advance of the vehicle 2 with respect to a straight line that joins the latter with the user 3 in the successive instants t 1 and t 2 . Also this type of calculation is known and consequently will not be further described.
- the processing module 16 of the apparatus is capable of identifying the instantaneous positions of the vehicle 2 and of the user 3 and the relative directions and speeds of displacement. It is evident that, following upon determination of the instantaneous speeds, the processing module 16 is able to determine also the acceleration of the vehicle 2 and of the user 3.
- the apparatus 1 gives the driver of the vehicle timely warning of the presence of a danger when a condition of potential impact between the vehicle 2 and a vulnerable road user 3 is predicted. Said warning in fact enables the driver to prepare himself with sufficient advance in a condition of particularly careful driving, which considerably reduces the risk of impact between the vehicle and the user identified, and advantageously excludes all the conditions of alarm associated to the detection of the presence of road users 3, who, albeit vulnerable, are in a condition of non-impact with respect to the vehicle itself.
Abstract
Description
- The present invention relates to a method and an apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle, in particular a motor vehicle, of said condition of danger.
- As is known, in the road-safety sector there is increasingly felt the need to provide drivers of motor vehicles with an aid that will enable them to be warned in an automatic way when a condition of potential danger arises due to the presence of the so-called vulnerable road users, who are represented by pedestrians, cyclists or motorcyclists, i.e., all those persons who travel on the road in conditions of vulnerability.
- The road users mentioned above are in fact constantly exposed to a potential condition of danger in so far as, in the case where they are hit by a vehicle, they suffer particularly serious and severe consequences from the point of view of physical injury.
- The aim of the present invention is hence to provide an apparatus that will enable detection and advanced warning to the driver of the vehicle of a condition of danger due to the presence of vulnerable road users.
- The above aim is achieved by the present invention in so far as it regards a method designed to detect, and warn the driver of a vehicle of, a condition of danger originating from the presence of vulnerable road users, according to what is specified in
Claim 1 and, preferably, in any one of the subsequent claims that depend directly or indirectly uponClaim 1. - According to the present invention an apparatus is moreover provided designed to detect ,and warn the driver of a vehicle of, a condition of danger deriving from the presence of vulnerable road users, according to what is specified in
Claim 10 and, preferably, in any one of the subsequent claims that depend directly or indirectly uponClaim 10. - The present invention will now be described with reference to the annexed plate of drawings, which illustrate a non-limiting example of embodiment thereof and in which:
- Figure 1 is a schematic illustration of an apparatus for warning the driver of the vehicle of a condition of danger originating from the detection of a vulnerable road user, built in accordance with the present invention;
- Figure 2 represents a block diagram of a set of components comprised in the apparatus illustrated in Figure 1;
- Figure 3 illustrates a flowchart indicating the operations implemented by the apparatus shown in Figure 1 during its operation;
- Figure 4 shows a flowchart indicating the operations implemented by the apparatus during determination of the presence/absence of a condition of impact between the user and the vehicle; and
- Figures 5 and 6 are schematic illustrations of an example of the computation implemented by the apparatus during determination of the kinematic quantities associated to the vulnerable road user.
- With reference to Figure 1,
number 1 designates as a whole an apparatus having the function of detecting, and warning the driver of avehicle 2 of, a condition of danger associated to a collision or impact that may occur between thevehicle 2 and one or more vulnerable road users 3 (only one of which, for reasons of simplicity of description, is shown in Figure 1) so as to achieve a greater road safety for theusers 3. It remains, however, clear that saidapparatus 1 is able to operate in the presence of any number ofvulnerable road users 3. - As will be described in detail in what follows, the
apparatus 1 is able to implement the following operations: detecting the presence of one or morevulnerable road users 3 in an area within which displacement of thevehicle 2 occurs; calculating a set of kinematic parameters correlated to the position and to the displacement of thevehicle 2 and of theuser 3 within the area; verifying, on the basis of a set of comparisons between the displacements of thevehicle 2 and the displacements performed by theuser 3, whether there exists or not a condition of potential impact between the two; and, in the case where said condition of impact is ascertained, warning the driver of thevehicle 2 of a condition of danger so as to warn him, in sufficient advance, of the possible impact between thevehicle 2 and thevulnerable road user 3. - With reference to the example illustrated in Figure 1, the
apparatus 1 basically comprises: an identification device 4, which is designed to be carried or worn by avulnerable road user 3, corresponding, for example, to a pedestrian, and/or to a cyclist, and/or to a motorcyclist, etc.; and awarning apparatus 5, which is installed on board thevehicle 2, and has the function of identifying the position and the displacement of the identification device 4 worn by theuser 3, and of comparing said information with the position and the displacement of thevehicle 2, in such a way as to be able to foresee, on the basis of said comparison, a possible condition of impact between thevehicle 2 and theuser 3. - The identification device 4 that can be worn by the
user 3 may be, for example, a transponder (TAG), preferably, but not necessarily, of a passive type, which is activated following upon reception of an inquiry signal, and has the function of transmitting to the warning apparatus 5 a response signal to enable identification of the position of theuser 3, as well as identification of the kind of user. - In the case in point, the identification device 4 can be provided with a
storage module 6 containing an identification code associated preferably, but not necessarily, to the type of user (pedestrian, cyclist, motorcyclist), and atransceiver module 7, which is able to receive and/or transmit radiofrequency signals to and from thewarning apparatus 5. - With reference to Figure 1, the
warning apparatus 5 comprises a transceiver device 8, constituted, for example, by a known electronic circuit that is able to transmit and receive radiofrequency signals, which is designed to transmit the inquiry signal to the identification device 4 and to receive from the latter the response signal identifying the user. - The
warning apparatus 5 further comprises, preferably but not necessarily, a satellite positioning device 9, for example a GPS (Global Positioning System) module capable of determining the instantaneous position of the vehicle 2 (in terms of longitude and latitude) with respect to a pre-set reference system, and anelectronic control unit 10, which implements a set of operations (described in detail hereinafter) for verification and comparison of the displacements between the vehicle and the user, on the basis of which the possible condition of danger is identified. - The
electronic control unit 10 can be constituted by an electronic control unit capable of co-operating with a HMI (Human-Machine Interface)device 11 present on board thevehicle 2 so as to warn, through the latter, the driver of thevehicle 2 of the condition of danger. - In greater detail, with reference to Figure 2, the
electronic control unit 10 comprises: acontrol module 12, which cooperates with the transceiver device 8 for managing the transmission/reception of the radiofrequency signals from and to the identification device 4; acalculation module 13, which processes the response signal received by thecontrol module 12 to determine (with the modalities described in detail hereinafter) a set of kinematic parameters associated to theuser 3, such as position, speed, and acceleration. - The
electronic control unit 10 further comprises: adetection module 14, which detects a set of kinematic parameters of thevehicle 2, such as, for example, the position, speed and acceleration; and astorage module 15, which contains a geographical map of the area involved in the displacement of thevehicle 2 and of theuser 3. In the case in point, the geographical map can contain a digital geographical representation (i.e., in an electronic format), in which are indicated the real elements and/or objects present in the geographical area represented. - The real elements and/or objects can comprise for instance roads, car parks, service areas, buildings, bridges, squares, green areas, cycle tracks, pavements, etc. In particular, said elements and/or objects are described within the digital geographical map on the basis of their geometrical characteristics, such as for example their position with respect to a pre-set reference system, the perimeter or the area occupied, and on the basis of other properties of an operative type, such as for example the state of accessibility of the object.
- The
electronic control unit 10 further comprises: aprocessing module 16, which is capable of determining the positions and the displacements of theuser 3 and of thevehicle 2 within the geographical map contained in thestorage module 15 in order to verify, as a function of the outcome of said processing, whether there exists or not a condition of danger; and awarning module 17, which sends to theHMI device 11 the signal warning of danger to be supplied to the driver of thevehicle 2. - The identification device 4 can be provided with a
warning module 4a for warning theuser 3 of a condition of danger detected by thewarning apparatus 5. In this case, thewarning module 17, in addition to activating the warning of danger to the driver of the vehicle through theHMI device 11, operates a command for transmission of a signal that encodes said condition of danger. Said signal is designed to be received by thetransceiver module 7 and is converted into an acoustic and/or visual and/or vibrational message by thewarning module 4a comprised in the identification device 4. Thewarning module 4a comprised in the identification device 4 could comprise an acoustic and/or visual and/or vibrational message device designed to warn the user of the possible condition of impact with thevehicle 2. - With reference to Figure 3 the method implemented by the
apparatus 1 for detecting, and warning the driver of thevehicle 2 of, a condition of danger generated by the presence ofvulnerable road users 3 will now be described. - During displacement of the
vehicle 2 along the path, theelectronic control unit 10 controls transmission of the inquiry signal (block 100) via the transceiver device 8, and remains in a temporary condition of waiting (block 110) for detection of a response signal by at least one identification device 4 worn by auser 3 present within an area that surrounds the path of thevehicle 2. - In this step, if the
control module 12 does not receive at input any response signal transmitted by the identification device 4 (output NO from block 110), then it transmits, after a pre-set time interval (block 120), a new inquiry signal. - If, instead, the
control block 12 receives a response signal transmitted by the identification device 4 (output YES from block 110), then thecalculation module 13 identifies the presence of avulnerable road user 3 and accordingly processes the radiofrequency response signal to determine a set of kinematic quantities such as for example the position, speed, and possibly acceleration of theuser 3, and preferably, but not necessarily, the type of user (block 130). - At this point, the
detection module 14 measures a set of vehicle parameters to supply a set of information regarding the position, speed and acceleration of thevehicle 2 to theprocessing module 16, which verifies whether there exists a correspondence between the positions of the vehicle and of the user and the objects indicated in the digital map. If theprocessing module 16 identifies said correspondence, it then represents thevehicle 2 and theuser 3 on the digital geographical map stored in the storage module 15 (block 140) according to the respective positions calculated. - In this step, the
processing module 16 identifies on the digital geographical map the objects or elements which theuser 3 and thevehicle 2 occupy. For example, theuser 3 could occupy an object corresponding to a road, or an object corresponding to a cycle track, or an object corresponding to a car park, etc., whereas thevehicle 2 could occupy an object corresponding to a road, or else an object corresponding to a bridge, or an object corresponding to a car park, etc. - At this point, the
processing module 16 verifies the presence/absence of a possible situation of impact between the vehicle and the user, and hence a condition of danger. - In particular, in this step the
processing module 16 makes a forecast of the paths that will be followed by thevehicle 2 and by theuser 3 and, on the basis of the points of intersection of the paths and as a function of the speed of thevehicle 2 and of theuser 3, determines the presence/absence of a condition of danger deriving from an impact between the user and the vehicle. - In the case where no condition of danger of impact between the vehicle and the user is identified, the
processing module 16 identifies a condition of absence of danger (output NO from block 160), whilst otherwise, i.e., in the case where a condition of danger due to impact is forecast, thewarning module 17 warns the driver of thevehicle 2, through theHMI device 11, of the condition of danger (block 170). - At this point, the
warning module 17 transmits the danger signal to the identification device 4, which issues to theuser 3 an acoustic and/or visual and/or vibrational warning of the presence of the danger of impact (block 180). - With reference to Figure 4, described hereinafter are the operations implemented by the
apparatus 1 during verification of the presence/absence of the condition of danger due to a possible impact of thevehicle 2 with a user 3 (described above and indicated in Figure 2 by block 150). - In this step, the
processing module 16 verifies whether there exists an effective correspondence between the positions assumed by thevehicle 2 and by theuser 3 and the objects and/or elements represented within the digital geographical map (block 200). In the case where said correspondence has a negative outcome, i.e., if, on account of their positions, thevehicle 2 and/or theuser 3 do not find a correspondence, i.e., they cannot be represented within the geographical map (output NO from block 200), then theprocessing module 16 processes the kinematic parameters of thevehicle 2 and of theuser 3 in order to predict the path that will be followed by theuser 3 and by thevehicle 2 starting from their respective positions previously determined (block 210). - In this step, the
processing module 16 moreover determines a set of safety parameters, such as the point of intersection PT between the path of thevehicle 2 and the path of theuser 3, a safety distance rs (described hereinafter) that must be maintained between thevehicle 2 and theuser 3 to guarantee safety of the latter, and a stopping distance ds for arrest of thevehicle 2. - In particular, the stopping distance ds of the
vehicle 2 represents the total distance along which thevehicle 2 is travelling between the initial instant, in which the driver has the perception of the presence of auser 3 on the road along which thevehicle 2 is travelling, and the final instant, in which thevehicle 2 stops following upon a stop command imparted by the driver of thevehicle 2 itself. - In particular, the stopping distance ds can be determined through a table contained in the
storage module 15 and as a function of a set of parameters such as the speed of thevehicle 2, the model of vehicle 2 (determined via a customization of the system), the driving skill of the driver (determined via a set of information associated to the driving "historic file" of the driver), the type of road along which the vehicle is travelling, and the external environmental conditions (which can be determined via a sensor for detection of the state of the road). The stopping distances ds included in the table can be determined by measuring the stopping distances dS as the parameters indicated above vary and by implementing on the data thus obtained a statistic calculation procedure. - As regards the safety distance rs, this corresponds to the minimum distance required between the
vehicle 2 and auser 3 along a stretch of road, below which a condition of danger for theuser 3 arises. - The
processing module 16 determines the safety distance rs on the basis of the stopping distance ds. In particular, the safety distance rs is calculated via the following relation: rs = ds*cv, where cv is a coefficient preferably greater than one, which takes into account the unforeseeableness of the type ofvulnerable road user 3 considered. - The coefficient cv can also be stored in a table that represents a biunique function between the coefficients cv and the type of
road users 3. Said table can be contained in thestorage module 15 in such a way as to be accessible by theprocessing module 16 during calculation of the safety distance rs. - Following upon determination of the safety distance rs, the
processing module 16 verifies whether the distance measured between thevehicle 2 and the point of intersection PT of the paths is smaller than the safety distance rs and at the same time whether the speed of thevehicle 2 and the speed of theuser 3 are such as to be able to cause an impact between the vehicle and the user in the point of intersection PT itself (block 220). - If the verification has a negative outcome (output NO from block 220), i.e., if the distance measured between the
vehicle 2 and the point of intersection PT is greater than the safety distance rs, and the speed of thevehicle 2 and of theuser 3 along the respective paths are such as not to be able to cause an impact between the vehicle and the user in the point of intersection PT itself, then a condition of absence of danger is determined. - If, instead, the verification has a positive outcome (output YES from block 220), i.e., if the distance measured between the
vehicle 2 and the point of intersection PT is smaller than the safety distance rs, and at the same time the speed of thevehicle 2 and the speed of theuser 3 are such as to be able to cause an impact between thevehicle 2 and theuser 3 in the point of intersection PT, then a condition of danger (block 230) is determined. - In the case where, following upon verification of the positions between the vehicle and the user on the geographical map a correspondence between the latter and the elements and/or objects is detected (output YES from block 200), then the
processing module 16 verifies whether the object or element in which theuser 3 is located is or is not contiguous, i.e., adjacent, to the road along which thevehicle 2 is travelling (block 240). - In particular, the geographical element of the map corresponding, for example, to a cycle track is contiguous to the road if the following two conditions arise: if the intersection between the object, i.e., the cycle track, and a corridor of width D that develops along the road is not empty, and if there does not exist any physical separation that will prevent the user travelling along the cycle track from entering the road along which the
vehicle 2 is travelling. - If the object or element of the electronic map, associated to the path of the
user 3, is not contiguous to the road along which thevehicle 2 is travelling (output NO from block 240) then theprocessing module 16 determines the safety distance rs in the modalities described above, and the point Ps of intersection between the road along which thevehicle 2 is travelling and the path of the user 3 (block 250). - In this step, the
processing module 16 verifies whether the distance between thevehicle 2 and the point of intersection Ps is smaller than the safety distance rs. - If said verification has a negative outcome (output NO from block 250), i.e., if the distance between the
vehicle 2 and the point of intersection Ps is greater than the safety distance rs, a condition of absence of danger of impact is detected, whilst, instead, if said verification has a positive outcome (output YES from block 250), i.e., if the distance between thevehicle 2 and the point of intersection Ps is smaller than the safety distance rs, a condition of danger of impact is detected (block 260). - If the object or element of the map associated to the path of the
user 3 is contiguous to the road followed by the vehicle 2 (output YES from block 240), then theprocessing module 16 performs a forecast of the path followed by thevehicle 2 and of the path followed by theuser 3, calculates the point of intersection PT between the paths and determines the safety distance rS implementing the operations described above (block 270). - At this point, the
processing element 16 implements the same operations as those ofblock 220, i.e., it verifies whether the distance measured between thevehicle 2 and the point of intersection PT of the paths is smaller than the safety distance rs and, at the same time, checks whether the speed of thevehicle 2 and the speed of theuser 3 are such as to be able to cause an impact between the vehicle and the user in the point of intersection PT itself (block 280). - In the case of positive outcome (output YES from block 280), i.e., if the distance measured between the
vehicle 2 and the point of intersection PT of the paths is smaller than the safety distance rs and the speed between the vehicle and theuser 3 are such as to be able to cause an impact, then the processing module operates a warning of the condition of danger (block 260). - If, instead, the distance measured between the
vehicle 2 and the point of intersection PT of the paths is greater than the safety distance rs and/or the speed between the vehicle and theuser 3 are such as not to be able to cause an impact, theprocessing module 16 verifies whether the position of the user is comprised within the corridor of pre-set width D and whether theuser 3 is at a distance from the vehicle smaller than the safety distance rs (block 290). - If said verification has a positive outcome (output YES from block 290), i.e., if the position of the user is within the corridor of pre-set width D and the
user 3 is at a distance from thevehicle 2 smaller than the safety distance rS, then theprocessing module 16 detects a condition of danger (block 260). - Otherwise, i.e., if the position of the user is outside the corridor of pre-set width D, or the
user 3 is at a distance from thevehicle 2 greater than the safety distance rS (output NO from block 290), then theprocessing module 16 detects a condition of absence of danger. - As regards the operations implemented during calculation of the kinematic quantities (block 130 shown in Figure 2), i.e., the position, speed and acceleration of the user, they can be performed on the basis of a set of measurements and processing operations implemented directly by the
apparatus 1. - In particular, with reference to Figures 5 and 6, the
apparatus 1 is capable of measuring a set of quantities provided hereinafter. - In the case in point, should the user be moving at a speed Vc other than zero (the example shown in Figure 5), the
apparatus 1 is able to determine the vectors C-A and D- B, which represent both the distances C-A and D-B of theuser 3 with respect to thevehicle 2 in two successive instants t1 and t2 and the directions along which the distances C-A and D-B are determined with respect to the direction of displacement of thevehicle 2, where C and D are the positions of theuser 3 in the two instants t1 and t2, A is the position of thevehicle 2 at the instant t1 and B is the position of thevehicle 2 at the instant t2. - In this case, the
processing module 16 of theapparatus 1 determines the vectors C-A and D- B, processing in a known way (and consequently not described in detail) the time of flight associated to the radiofrequency signals exchanged between thewarning apparatus 5 and the identification device 4. - In the case where the user is stationary Vc = 0 (Figure 6), the
apparatus 1 determines the vectors C - A and C - B that indicate both the distances C-A and C-B of theuser 3 with respect to thevehicle 2 in two successive instants t1 and t2 and the directions along which the distances C-A and C-B are determined with respect to the direction of displacement of thevehicle 2, where C is the position of theuser 3, A is the position of thevehicle 2 at the instant t1, and B is the position of thevehicle 2 at the instant t2. Also here theprocessing module 16 of theapparatus 1 determines the vectors C - A and C - B, processing in a known way (and consequently not described in detail) the time of flight associated to the radiofrequency signals exchanged between thewarning apparatus 5 and the identification device 4. - In the case where the
apparatus 1 is provided with a satellite positioning device 9, it is then able to determine also the vector B - A indicating the distance between the positions A and B assumed by the vehicle in the two consecutive instants t1 and t2, its direction of displacement with respect to a pre-set reference system, and the speed Va and Vb of thevehicle 2 in the two instants t1 and t2. - In addition, if the
apparatus 1 co-operates with a set of directional antennas (not illustrated), such as for example a plurality of smart antennas arranged on the vehicle according to a pre-set known geometrical configuration (for example, according to a circular geometrical configuration), it is capable of detecting also the angles α1 and α2 that form the direction of advance of thevehicle 2 with respect to a straight line that joins the latter with theuser 3 in the successive instants t1 and t2. Also this type of calculation is known and consequently will not be further described. - The
processing module 16 of theapparatus 1, following upon detection of the information regarding the parameters C - A and C - B and/or C - A and D - B and/or Va and Vb and/or α1 and α2, is capable of identifying the instantaneous positions of thevehicle 2 and of theuser 3 and the relative directions and speeds of displacement. It is evident that, following upon determination of the instantaneous speeds, theprocessing module 16 is able to determine also the acceleration of thevehicle 2 and of theuser 3. - The advantages deriving from the
apparatus 1 described above are evident: theapparatus 1 gives the driver of the vehicle timely warning of the presence of a danger when a condition of potential impact between thevehicle 2 and avulnerable road user 3 is predicted. Said warning in fact enables the driver to prepare himself with sufficient advance in a condition of particularly careful driving, which considerably reduces the risk of impact between the vehicle and the user identified, and advantageously excludes all the conditions of alarm associated to the detection of the presence ofroad users 3, who, albeit vulnerable, are in a condition of non-impact with respect to the vehicle itself. - Finally, it is clear that modifications and variations can be made to the
apparatus 1 described and illustrated herein, without thereby departing from the scope of the present invention as defined by the annexed claims.
Claims (15)
- A method for warning the driver of a vehicle (2) of a condition of danger deriving from the presence of at least one vulnerable road user (3); said method being characterized in that it comprises the following steps:- transmitting via a user-identification device (4) carried by said vulnerable road user (3) a user-identification signal;- receiving (110) said user-identification signal via a warning device (5) installed on board the vehicle (2);- processing (130) said user-identification signal to determine a set of information regarding the displacement of said vulnerable road user (3);- comparing (140, 150, 160) the information regarding the displacement of said vulnerable road user (3) with a set of information regarding the displacement of the vehicle (3) in order to predict, on the basis of the results of said comparison, the presence or the absence of a condition of impact between the vehicle (2) and the vulnerable road user (3); and- in the case where said condition of impact is predicted, sending a warning (170) of a condition of danger to the driver of the vehicle (2) through warning means (11) installed on board the vehicle (2) itself.
- The method according to Claim 1, characterized in that it comprises the step of:- transmitting (100) by means of said warning device (5) an inquiry signal outside the vehicle (2),the command for transmission of said identification signal via the user-identification device (4) being controlled following upon reception of said inquiry signal by said identification device (4).
- The method according to Claim 1 or Claim 2, characterized in that said step of comparing (140, 150, 160) said information regarding the displacement of said vulnerable road user (3) with a set of information regarding the displacement of the vehicle (2) comprises the step of verifying (140) whether the position of the vehicle (2) and the position of the user (3) can be represented within an electronic map contained in storage means (15) of said warning device (5).
- The method according to Claim 3, characterized in that it comprises the step of:- in the case where the position of the vehicle (2) and the position of the user (3) can be represented within said electronic map, verifying (240) whether the object of the electronic map which the user (3) occupies is or not contiguous to the road along which the vehicle (2) is travelling indicated in said electronic map.
- The method according to Claim 4, characterized in that it comprises the step of:- in the case where the object of the electronic map which the user (3) occupies is contiguous to the road along which the vehicle (2) is travelling implementing the following steps:- verifying (280) whether the distance measured between the vehicle (2) and a point of intersection (PT) of the paths of the vehicle (2) and of the user (3) satisfies a first relation with a pre-set safety distance (rs) and checking whether the speed of the vehicle (2) and the speed of the user (3) are such as to be able to cause an impact between the vehicle and the user at said point of intersection (PT); and- in the case where said first relation is satisfied and if the speed of the vehicle (2) and the speed of the user (3) are such as to be able to cause an impact between the vehicle and the user at said point of intersection (PT), sending a warning (170, 260) of a condition of danger to the driver of the vehicle (2).
- The method according to Claim 4, characterized in that it comprises the step of:- in the case where the object of the electronic map which the user (3) occupies is not contiguous to the road along which the vehicle (2) is travelling, implementing the following steps:- determining (250) a point of intersection (Ps) between the road along which the vehicle (2) is travelling and the path of the user (3) on the electronic map;- verifying (250) whether the distance between the vehicle (2) and the point of intersection (Ps) satisfies a second relation with a pre-set safety distance (rs); and- in the case where said second relation is satisfied, sending a warning (170, 260) of a condition of danger to the driver of the vehicle (2).
- The method according to Claim 6, characterized in that it comprises the following steps: in the case where the distance measured between the vehicle (2) and the point of intersection (PT) of the paths does not satisfy said second relation, and/or the speed of the vehicle (2) and of the user (3) are such as not to be able to cause an impact, verifying (290) whether the position of the user (2) in said electronic map is comprised within a corridor which has a pre-set width (D) and extends along the road on which the vehicle (2) is travelling, and whether the user (3) is at a distance from the vehicle (2) smaller than a pre-set safety distance (rs).
- The method according to Claim 3, characterized in that it comprises the following steps:- in the case where the position of the vehicle (2) and the position of the user (3) cannot be represented within said electronic map, determining the path of the vehicle (2) and the path of the user (3) as a function of the information regarding the displacement of the vehicle (2) and of the user (3) ;- verifying (220) whether the distance measured between the vehicle (2) and a point of intersection (PT) of the paths of the vehicle and of the user satisfies a third relation with a pre-set safety distance (rs) and checking whether the speed of the vehicle (2) and the speed of the user (3) are such as to be able to cause an impact between the vehicle and the user at said point of intersection (PT);- in the case where said third relation is satisfied and, if the speed of the vehicle (2) and the speed of the user (3) are such as to be able to cause an impact between the vehicle and the user at said point of intersection (PT), sending a warning (170) of a condition of danger to the driver of the vehicle (2).
- The method according to any one of the preceding claims, characterized in that said step of sending a warning (170) of a condition of danger to the driver of the vehicle (2) comprises the step of transmitting (180, 190) a signal indicating said condition of danger to said identification device (4) so as to send an acoustic and/or visual and/or vibrational warning of said condition of danger to the user (3).
- An apparatus (1) for warning the driver of a vehicle (2) of a condition of danger deriving from the presence of at least one vulnerable road user (3); said apparatus being characterized in that it comprises:- an identification device (4), which is designed to be carried by said vulnerable road user (3) and is able to transmit a user-identification signal;- a warning device (5), which is installed on board the vehicle (2) and is designed to receive and process the user-identification signal in order to verify the presence of a condition of impact between the vehicle (2) and the user (3) so as to warn the driver of the vehicle (2) of a condition of danger; said warning device (5) comprising:- transceiver means (8,12) designed to receive said user-identification signal;- processing means (16) designed to process said user-identification signal to determine a set of information regarding the displacement of said vulnerable road user (3);- comparison means (140, 150, 160) designed to compare the information regarding the displacement of said vulnerable road user (3) with a set of information regarding the displacement of the vehicle (2) in order to predict, on the basis of the result of the comparison, the absence or the presence of a condition of impact between the vehicle (2) and the vulnerable road user (3) ; and- warning means (17) designed to warn the driver of the vehicle (2) of a condition of danger when said condition of impact is predicted.
- The apparatus according to Claim 10, characterized in that said transceiver means (8, 12) of said warning device (5) are designed to transmit an inquiry signal, and in that said identification device (5) comprises transceiver means (6) designed to transmit said identification signal following upon reception of said inquiry signal.
- The apparatus according to Claim 11, characterized in that said warning means (17) are designed for transmitting a signal encoding said condition of danger to said identification device (4), said identification device (4) comprising a warning module (4a) designed to warn the user of said condition of danger encoded in said transmitted signal.
- The apparatus according to any one of Claims 10 to 12, characterized in that said warning device (5) comprises storage means (15) containing an electronic geographical map; said comparison means (140, 150, 160) comprising first control means (200) designed to verify whether the position of the vehicle (2) and the position of the user (3) calculated can be represented within the electronic geographical map.
- The apparatus according to Claim 13, characterized in that said comparison means (150) comprise second control means (240) designed to verify whether the object of the electronic map which the user (3) occupies is or not in a position adjacent to the road along which the vehicle (2) is travelling indicated in said electronic geographical map.
- The apparatus according to any one of Claims 10 to 14, characterized in that said comparison means (150) comprise third control means (220, 280) designed to verify whether the distance measured between the vehicle (2) and a point of intersection (PT) on said map of the paths of the vehicle (2) and of the user (3) satisfies a first relation with a pre-set safety distance (rs), and check whether the speed of the vehicle (2) and the speed of the user (3) are such as to be able to cause an impact between the vehicle and the user at said point of intersection (PT).
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE602005004931T DE602005004931T2 (en) | 2005-11-29 | 2005-11-29 | Method and device for detecting a dangerous situation as a result of endangered road users and for warning a vehicle driver of this dangerous situation |
AT05425841T ATE386998T1 (en) | 2005-11-29 | 2005-11-29 | METHOD AND DEVICE FOR DETECTING A DANGEROUS SITUATION AS A RESULT OF ENDANGERED ROAD PARTICIPANTS AND FOR WARNING A VEHICLE DRIVER OF THIS DANGEROUS SITUATION |
EP05425841A EP1791101B1 (en) | 2005-11-29 | 2005-11-29 | Method and apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle of said condition of danger |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05425841A EP1791101B1 (en) | 2005-11-29 | 2005-11-29 | Method and apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle of said condition of danger |
Publications (2)
Publication Number | Publication Date |
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EP1791101A1 true EP1791101A1 (en) | 2007-05-30 |
EP1791101B1 EP1791101B1 (en) | 2008-02-20 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP05425841A Active EP1791101B1 (en) | 2005-11-29 | 2005-11-29 | Method and apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle of said condition of danger |
Country Status (3)
Country | Link |
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EP (1) | EP1791101B1 (en) |
AT (1) | ATE386998T1 (en) |
DE (1) | DE602005004931T2 (en) |
Cited By (4)
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FR2928482A1 (en) * | 2008-03-05 | 2009-09-11 | Bernard Nicolas Vitkovsky | Indication method for driver of three or four wheel vehicle e.g. car, involves transmitting radio-frequency signal by communication device, where signal is received to inform that vulnerable vehicle is entered into danger zone |
US8510200B2 (en) | 2011-12-02 | 2013-08-13 | Spireon, Inc. | Geospatial data based assessment of driver behavior |
GB2560117A (en) * | 2015-04-01 | 2018-08-29 | Atsu Valentine | Cycling glove |
EP3840521A4 (en) * | 2018-09-21 | 2021-10-06 | Samsung Electronics Co., Ltd. | Method and device for performing communication in wireless communication system |
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US8933802B2 (en) | 2012-11-05 | 2015-01-13 | Spireon, Inc. | Switch and actuator coupling in a chassis of a container associated with an intermodal freight transport system |
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DE102015210780A1 (en) * | 2015-06-12 | 2016-12-15 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit for communication between an autonomous vehicle and an occupant |
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FR2928482A1 (en) * | 2008-03-05 | 2009-09-11 | Bernard Nicolas Vitkovsky | Indication method for driver of three or four wheel vehicle e.g. car, involves transmitting radio-frequency signal by communication device, where signal is received to inform that vulnerable vehicle is entered into danger zone |
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Also Published As
Publication number | Publication date |
---|---|
ATE386998T1 (en) | 2008-03-15 |
DE602005004931T2 (en) | 2009-02-26 |
DE602005004931D1 (en) | 2008-04-03 |
EP1791101B1 (en) | 2008-02-20 |
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