EP1887540B1 - Dispositif et procédé destinés à éviter des télescopages - Google Patents

Dispositif et procédé destinés à éviter des télescopages Download PDF

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Publication number
EP1887540B1
EP1887540B1 EP07013350A EP07013350A EP1887540B1 EP 1887540 B1 EP1887540 B1 EP 1887540B1 EP 07013350 A EP07013350 A EP 07013350A EP 07013350 A EP07013350 A EP 07013350A EP 1887540 B1 EP1887540 B1 EP 1887540B1
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EP
European Patent Office
Prior art keywords
determined
motor vehicle
vehicle
parameter
probability
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Application number
EP07013350A
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German (de)
English (en)
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EP1887540A1 (fr
Inventor
Arne Bartels
Markus Erlacher
Thomas Bizenberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Volkswagen AG
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Audi AG
Volkswagen AG
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Publication of EP1887540A1 publication Critical patent/EP1887540A1/fr
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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

Definitions

  • the invention relates to a device and a method for avoiding rear-end collisions of motor vehicles.
  • a method for avoiding rear-end collisions by the observation of the rear traffic volume of a first motor vehicle wherein the own speed of the first motor vehicle is determined, the relative speed and distance between the first motor vehicle and a subsequent motor vehicle is determined and a time is calculated, which remains, until the two motor vehicles would collide with one another, taking into account a predetermined value for the deceleration of the second motor vehicle and triggering a measure on the first motor vehicle when the calculated time is below a predetermined value.
  • a system for avoiding too short a distance from a following vehicle to a preceding vehicle, wherein the preceding vehicle has a device for determining the distance and the relative speed to the following vehicle, wherein based on the determined distance and the relative speed, a minimum distance is determined and Falling below the minimum distance measures are taken to avoid a further reduction of the distance, in order to avoid a possible rear-end collision.
  • the technical problem underlying the invention is to provide a device and a method for avoiding rear-end collisions of motor vehicles, which have an improved warning behavior.
  • the device for avoiding rear-end collisions of motor vehicles comprises a sensor system with which at least the relative speed between a separate motor vehicle and a following motor vehicle is determined or calculated, depending on from the relative speed, a parameter can be determined by an evaluation unit, which is compared with a stored comparison value, wherein in a deviation from the comparison value, a measure is initiated to reduce the risk of collision, wherein by means of the sensor occupancy of neighboring tracks can be determined from the occupancy of the neighboring lanes a probability of an overtaking of the following motor vehicle is determined and the determined parameter and / or the stored comparison value is selected depending on the probability of an overtaking by the evaluation.
  • the invention is based on the following findings, which relate to the advantages and disadvantages of different system activations.
  • a first possibility is that the system becomes active if the stopping distance of the following vehicle calculated by the system is smaller than the distance to the following vehicle measured by the environment sensors of the system.
  • stopping route is here meant the way the follower vehicle travels until the relative speed of the follower vehicle with respect to the own vehicle is zero.
  • the braking deceleration depends on the brake, tire and road conditions.
  • the approach speed can be detected by the environment sensors of the system: the braking deceleration of the following vehicle can be estimated by the system taking into account data of other systems installed in the own vehicle. These other systems include brake system, rain light sensor, road condition sensor and / or camera system.
  • the response time from the driver of the follower vehicle can be estimated by the system.
  • a dead time of the braking system and a hesitant braking intervention by the driver of the follower vehicle and the reaction of a brake assist can also be taken into account in a more detailed calculation.
  • TTC Time To Collision
  • the advantage of this method of calculating the warning time is that false warnings about shunting vehicles are less frequent.
  • the collision speed of the rear-end collision and, with it, the severity of the accident are in any case reduced.
  • rear-end collisions at low and medium relative speeds can be avoided. At the latest at high relative speeds, however, the warning comes so late that the rear-end collision can no longer be prevented.
  • the invention begins by determining a probability for an overtaking operation, for which purpose an occupancy of neighboring tracks is detected. In addition to the pure existence of objects in the neighboring track, their speed is preferably also recorded. If the determination now shows that the likelihood of an overtaking process is low, an early warning is given, for example by using the stopping distance as the parameter. Accordingly, the "Time To Collision" is then used, for example, as parameter with a high passing probability. The likelihood of the overtaking process is thus used to select a parameter or, if the parameter itself is not changed, to adjust the stored comparison value. At high Studentshöl crosskeit so the limit or comparison value for the distance or the time is reduced or vice versa low set high. In these cases deviation is to be understood as falling short of the given comparison value.
  • the adaptation to the probability can be binary, stepped or continuous.
  • the measures for avoiding the rear-end collision can be complex.
  • interventions in the driving dynamics of the preceding and / or following vehicle are also conceivable, as are activations of passive and / or active occupant protection devices.
  • the sensor system for detecting the occupancy of the neighboring tracks comprises a radar sensor and / or a camera and / or an ultrasound sensor, wherein preferably on the sensors existing vehicle assistance systems such as camera of the lane departure warning, or a video-based parking or reversing aid, radar or lidar of Adaptive Cruise Control or ultrasonic sensors Park Distance Control, lane change assistance systems or a park steering assistance system is used.
  • vehicle assistance systems such as camera of the lane departure warning, or a video-based parking or reversing aid, radar or lidar of Adaptive Cruise Control or ultrasonic sensors Park Distance Control, lane change assistance systems or a park steering assistance system is used.
  • vehicle surroundings conditions are determined by means of the sensor system, such as crash barriers, curbs or green strips.
  • the device is part of or associated with a lane change assistance system, since the information about the likelihood of an overtaking process is also of interest for the lane change assistance system.
  • the approach warning device may intervene as described above.
  • the probability is calculated whether and, if so, on which neighboring lane the approaching vehicle will overtake. From an adjustable probability limit, the driver is warned against a lane change on the page in question.
  • the warning can be known to be e.g. by a warning lamp in the exterior mirror or a haptic steering torque done.
  • the distance to the following motor vehicle is detected, wherein at a relative speed of zero, a warning occurs when the distance is smaller than a minimum distance.
  • the time gap between the own vehicle and the following vehicle preferably serves as a triggering criterion.
  • the airspeed is communicated to the system by other control devices of the own vehicle.
  • the distance to the following vehicle is determined by the environment sensors of the system.
  • the time gap has to be set in such a way that on the one hand a warning is given ahead of critical situations and on the other hand unnecessary triggers are prevented.
  • a braking of the own vehicle can be taken into account.
  • the warning to the rear traffic then takes place earlier.
  • the braking deceleration of the own vehicle is communicated to the system by the brake system.
  • a possible embodiment is that to avoid false alarms a hazard warning or the triggering of an actuator only takes place when the own vehicle delays itself. This can also be done dynamically, i. H. Below a speed which can be parameterized, the system reacts even if the own vehicle does not decelerate. Above this speed, your own vehicle reacts with warning or actuators only if the vehicle itself also delays.
  • the known emergency brake warning flashing can be extended.
  • rear lights are actuated for the purpose of warning the following traffic as soon as a predetermined upper braking deceleration of the own vehicle is exceeded.
  • the system is extended by activating only if the environment sensors of the system recognize a follower vehicle in the lane behind the driver's own vehicle. This avoids unnecessary warnings.
  • the Fig. 1a - g show the different scenarios for the detection of an occupied adjacent lane on the example of a vehicle with sensors that have a detection area, which is behind and to the left and right of your own vehicle.
  • the vehicle is here a left-hand drive, and the planned overtaking should be left. Plotted in white is the relevant monitored area. Listed are only the cases in which a follower vehicle, which drives on the same lane as the own vehicle, approaches the own vehicle from behind.
  • the adjacent lane is then occupied when a vehicle is on the side lane between the following vehicle and the own vehicle and hereby Fig. 1a falling behind or Fig. 1b as fast as your own vehicle drives or Fig. 1c faster than your own vehicle, but slower than the following vehicle drives or Fig. 1d as fast as the following vehicle next to or shortly before the following vehicle drives.
  • the adjacent lane is occupied when Fig. 1e a vehicle is located behind the follower vehicle and on the secondary lane approaches from behind so fast that the following vehicle can not safely change the lane.
  • the neighbor track is then occupied, if Fig. 1f a vehicle on the secondary lane drives as oncoming traffic or if Fig. 1g the neighboring lane is occupied by structural measures such as crash barriers or posts.
  • a planned overtaking process on the right side can also be taken into account in the warning strategy.
  • scenarios for a vehicle with additional sensors which also detect the area in front of the own vehicle, can be set up.
  • FIG. 2 is a schematic block diagram of a device 1 for preventing rear-end collisions shown, which is part of a lane change assistance system.
  • the device 1 comprises an evaluation unit 2.
  • the evaluation unit 2 is designed with different sensors 3-8 and 9-12.
  • the sensors 3-8 serve to detect objects in neighboring tracks including their speed.
  • the sensor systems 3-8 are, for example, in detail a camera 3 of a lane departure warning system, a radar sensor 4 of an adaptive cruise control, ultrasonic sensors 5 of a parking distance control, ultrasonic sensors 6 of a park assist system, a radar sensor 7 and / or a camera Lane change assistance system and a camera 8 for monitoring the rear traffic. It is understood that it is not necessary for the invention that all mentioned systems or sensors are present.
  • the sensor systems are a braking system 9, a rain-light sensor 10, a road condition sensor 11 and a camera system 12, wherein also here not necessarily all sensors 9-12 must be present.
  • the data of the sensors 9-12 are taken into account in particular in the calculation of the stopping distance.
  • the sensors 3-8 provide their data and / or preprocessed data to the evaluation unit 2, which determines among other things a probability of an overtaking operation. Further, the evaluation unit 2 determines a parameter which is compared with a stored comparison value. The parameter is for example a "time to collision" or a stopping distance. If the determined parameter falls short of the predetermined comparison value, the evaluation unit 2 triggers a measure by activating an actuator system 13 which, for example, is a flashing light and / or an active and / or passive occupant protection device and / or a control device for influencing the longitudinal dynamics of the vehicle Motor vehicle is. Depending on the determined probability of a passing process, the evaluation unit selects either a different parameter or a different comparison value. The important thing is to be warned earlier if the probability of overtaking is low, and later if the probability of overtaking is high.
  • an actuator system 13 which, for example, is a flashing light and / or an active and / or passive occupant protection device and / or a control device for influencing

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Alarm Systems (AREA)
  • Air Bags (AREA)
  • Communication Control (AREA)

Claims (10)

  1. Dispositif pour éviter les accidents par collision de véhicules automobiles, comprenant un dispositif de détection avec lequel peut être déterminée ou calculée au moins la vitesse relative entre un véhicule automobile et un véhicule automobile qui suit, un paramètre pouvant être déterminé par une unité d'interprétation en fonction de la vitesse relative, lequel est comparé avec une valeur de comparaison stockée, une mesure étant engagée en cas de différence par rapport à la valeur de comparaison afin de réduire le risque d'accident par collision, caractérisé en ce qu'une occupation des peut être de circulation voisines voies déterminée au moyen du dispositif de détection (3-8), une probabilité d'une manoeuvre de dépassement du véhicule automobile qui suit est déterminée à partir de l'occupation des voies de circulation voisines et le paramètre déterminé et/ou la valeur de comparaison stockée sont sélectionnés par l'unité d'interprétation (2) en fonction de la probabilité d'une manoeuvre de dépassement.
  2. Dispositif selon la revendication 1, caractérisé en ce que le dispositif de détection comprend un capteur radar (4, 7) et/ou une caméra (3, 8) et/ou un capteur à ultrasons (5, 6) pour détecter l'occupation de la voie de circulation voisine (3-8).
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que les conditions environnantes de la voie de circulation sont déterminées au moyen du dispositif de détection (3-8).
  4. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif (1) est un composant d'un système d'assistance au changement de voie ou est relié avec celui-ci.
  5. Dispositif selon l'une des revendications précédentes, caractérisé en ce que l'écart par rapport au véhicule automobile qui suit est détecté, une alerte étant produite à une vitesse relative nulle lorsque l'écart est inférieur à l'écart minimum.
  6. Procédé pour éviter les accidents par collision de véhicules automobiles au moyen d'un dispositif de détection avec lequel est déterminée ou calculée au moins la vitesse relative entre un véhicule automobile et un véhicule automobile qui suit, un paramètre étant déterminé par une unité d'interprétation en fonction de la vitesse relative, lequel est comparé avec une valeur de comparaison stockée, une mesure étant engagée en cas de différence par rapport à la valeur de comparaison afin de réduire le risque d'accident par collision, caractérisé en ce qu'une occupation des voies de circulation voisines est déterminée au moyen du dispositif de détection (3-8), une probabilité d'une manoeuvre de dépassement du véhicule automobile qui suit est déterminée à partir de l'occupation des voies de circulation voisines et le paramètre déterminé et/ou la valeur de comparaison stockée sont sélectionnés par l'unité d'interprétation (2) en fonction de la probabilité d'une manoeuvre de dépassement.
  7. Procédé selon la revendication 6, caractérisé en ce que le dispositif de détection (3-8) comprend un capteur radar (4, 7) et/ou une caméra (3, 8) et/ou un capteur à ultrasons (5, 6) pour détecter l'occupation de la voie de circulation voisine.
  8. Procédé selon la revendication 6 ou 7, caractérisé en ce que les conditions environnantes de la voie de circulation sont déterminées au moyen du dispositif de détection (3-8).
  9. Procédé selon l'une des revendications 6 à 8, caractérisé en ce que la probabilité d'une manoeuvre de dépassement déterminée est communiqué à un système d'assistance au changement de voie.
  10. Procédé selon l'une des revendications 6 à 9, caractérisé en ce que l'écart par rapport au véhicule automobile qui suit est détecté, une alerte étant produite à une vitesse relative nulle lorsque l'écart est inférieur à un écart minimum.
EP07013350A 2006-08-04 2007-07-07 Dispositif et procédé destinés à éviter des télescopages Active EP1887540B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006037015A DE102006037015A1 (de) 2006-08-04 2006-08-04 Vorrichtung und Verfahren zur Vermeidung von Auffahrunfällen

Publications (2)

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EP1887540A1 EP1887540A1 (fr) 2008-02-13
EP1887540B1 true EP1887540B1 (fr) 2009-09-16

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AT (1) ATE443310T1 (fr)
DE (2) DE102006037015A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018117692A1 (de) 2018-07-23 2020-01-23 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines Überholmanövers mit Berücksichtigung eines Sicherheitsabstands, Analysekomponente, Fahrerassistenzsystem sowie Fahrzeug

Families Citing this family (7)

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Publication number Priority date Publication date Assignee Title
DE102008024964A1 (de) * 2008-05-23 2009-11-26 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betrieb eines Fahrassistenzsystems beim Einparken eines Fahrzeugs in eine Parklücke
DE102012214979A1 (de) * 2012-08-23 2014-02-27 Robert Bosch Gmbh Spurwahlassistent zur Optimierung des Verkehrsflusses (Verkehrsflussassistent)
DE102014203361B3 (de) * 2014-02-25 2015-06-18 Klaus W. Hentges Fahrradabstandsabtastvorrichtung und System zur Detektion von Unfallschwerpunkten im Straßenverkehr
JP6092272B2 (ja) 2015-01-28 2017-03-08 本田技研工業株式会社 車両用走行制御装置
DE102015219465A1 (de) 2015-10-08 2017-04-13 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Ermittlung der adaptiven Reaktionszeit des Fahrers eines Kraftfahrzeugs
CN112612277B (zh) * 2020-12-23 2023-03-07 禾多科技（北京）有限公司 车辆轨迹规划方法、装置、设备和计算机可读介质
DE102023200499A1 (de) 2023-01-24 2024-07-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Steuergerät zum Betreiben eines Motorrads

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DE4005444A1 (de) * 1990-02-21 1991-08-22 Bayerische Motoren Werke Ag Verfahren und vorrichtung zur unterstuetzung eines kraftfahrers bei einem fahrspurwechsel
DE19933782B4 (de) * 1999-07-19 2013-08-01 Volkswagen Ag Verfahren zur Vermeidung von Auffahrunfällen sowie Vorrichtung zur Ausführung des Verfahrens
DE10328755A1 (de) * 2002-07-05 2004-07-15 Continental Teves Ag & Co. Ohg System zur Vermeidung von Auffahrunfällen
DE10251357A1 (de) * 2002-11-05 2004-05-13 Daimlerchrysler Ag Setzen oder Abschalten eines Fahrtrichtungsanzeigers
DE102005062274A1 (de) * 2005-12-24 2007-06-28 Daimlerchrysler Ag Verfahren zur Erkennung eines drohenden Heckaufpralls

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018117692A1 (de) 2018-07-23 2020-01-23 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines Überholmanövers mit Berücksichtigung eines Sicherheitsabstands, Analysekomponente, Fahrerassistenzsystem sowie Fahrzeug

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Publication number Publication date
EP1887540A1 (fr) 2008-02-13
ATE443310T1 (de) 2009-10-15
DE502007001525D1 (de) 2009-10-29
DE102006037015A1 (de) 2008-02-07

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