EP1921591B1 - Système d'assistance d'un conducteur - Google Patents

Système d'assistance d'un conducteur Download PDF

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Publication number
EP1921591B1
EP1921591B1 EP07118221A EP07118221A EP1921591B1 EP 1921591 B1 EP1921591 B1 EP 1921591B1 EP 07118221 A EP07118221 A EP 07118221A EP 07118221 A EP07118221 A EP 07118221A EP 1921591 B1 EP1921591 B1 EP 1921591B1
Authority
EP
European Patent Office
Prior art keywords
driver assistance
assistance system
trailer
lane
vehicle
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.)
Not-in-force
Application number
EP07118221A
Other languages
German (de)
English (en)
Other versions
EP1921591A1 (fr
Inventor
Holger Leicht
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1921591A1 publication Critical patent/EP1921591A1/fr
Application granted granted Critical
Publication of EP1921591B1 publication Critical patent/EP1921591B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the invention relates to a driver assistance system according to the preamble of claim 1.
  • the driver assistance system includes assistance functions such as LDW (Lane Departure Warning) and LKS (Lane Keeping Support).
  • the assistance function LDW warns the driver against leaving the lane by generating optical and / or acoustic and / or haptic signals.
  • the assistance function LKS actively intervenes in onboard systems of the vehicle, such as in the steering system, the braking system or the ESP system to keep a lane deviating vehicle in the lane.
  • the driver assistance system comprises a sensor system, in particular comprising at least one video sensor, for detecting lane markings or the like.
  • the GB 23 98 048 A describes a driver assistance system for a team, in which steering recommendations are given when reversing.
  • a map of the surroundings of the vehicle is created, in particular obstacles are determined, and interventions or instructions given to avoid collisions with these obstacles.
  • a towing vehicle means a towing vehicle having at least one trailer.
  • a semitrailer coming out of one Tractor with a semi-trailer exists.
  • the invention is suitable for a trailer with a wide or long trailer, as there is a particularly high risk that the trailer leaves the lane, touches the edge strip and thereby collides with an obstacle.
  • the invention makes it possible to improve the driving safety of trailers.
  • the improvement is achieved in that the driver of a team is at least warned by a warning signal when there is a risk that the team, but especially the trailer of the team leaves the lane.
  • the driver assistance system of the towing vehicle takes into account operating parameters of the trailer, in particular the dimensions and / or the steering characteristics of the trailer, and potential by comparing these operating parameters with the course of the lane and / or on and / or next to the lane detected objects Danger points recorded.
  • an adapted to the team LKS assistance function is used. This determines, for example, a trajectory on which the team can drive on a lane safely.
  • the LKS function not only engages in the steering system of the towing towing vehicle in order to keep the team in the lane. If, for example, the collision threatens with an obstacle, in particular with a towing vehicle approaching in oncoming traffic, the journey of the team can also be temporarily slowed down or, if necessary, braked to standstill of the team until the danger is over.
  • FIG. 1 shows, in a schematic representation, a plan view of a traffic area 1 with a lane 2.
  • the lane 2 is limited by lane markings 2.1 and 2.2.
  • a team consisting of a tractor 3 and an over-wide trailer 3.1 moves in the direction of arrow 4. While maintaining this direction is to be expected that the trailer 3.1 of the team in the area around the point P1, the road boundary 2.1 passes and thus departs from the lane 2.
  • FIG. 2 shows, in a schematic representation, a plan view of a traffic area 1 with a traffic lane 2.
  • the lane 2 is limited by lane markings 2.1 and 2.2.
  • the invention relates to a vehicle with a driver assistance system 50 (FIG. FIG. 5 ) equipped traction vehicle 3.
  • the driver assistance system 50 illustrated schematically in the form of a block diagram comprises at least one CCD or CMOS-based video sensor 51.
  • the video sensor 51 is connected to an evaluation device 52.
  • the evaluation device 52 is connected to the on-board system 53 of the towing vehicle 3.
  • the driver assistance system 50 makes it possible to detect the traffic lane 2, in particular based on the traffic lane markings 2.1 and 2.2 delimiting the traffic lane 2.
  • the driver assistance system 50 allows the position determination of the own towing vehicle 3 with respect to the lane 2.
  • the driver assistance system 50 also allows the detection of objects in the environment of the towing vehicle 3, in particular of traction vehicles approaching in oncoming traffic 6.
  • the properties of the trailer 3.1 are now taken into account for the safe driving of the team 3, 3.1, in the calculation of the trajectory.
  • important properties are in particular the height, width and track width, the length of the trailer 3.1, the distance of the axle from the trailer hitch into consideration.
  • design-related steering characteristics of the trailer 3.1 can be taken into account, for example, affect the pivoting range of the trailer 3.1.
  • the abovementioned properties of the trailer can be parameterizable and, depending on the situation, communicated to the driver assistance system 50 when driving on a coach, for example via a control panel.
  • the said characteristics of the trailer 3.1 are stored in a storage device of the trailer 3.1 and are automatically transferred to the towing vehicle 3 when coupling the trailer 3.1. If when driving the team 3, 3.1, the driver assistance system 50 one of the example in the Figures 1 and 2 recognizes risks shown, can be generated by the assistance function LDW the driver assistance system 50, a corresponding visual and / or audible and / or haptic warning that alerts the driver of the towing vehicle 3 on the risk.
  • the assistance function LKS of the driver assistance system 50 can additionally be used.
  • an intervention in the steering system of the towing vehicle 3 can take place in order to drive on a less risky trajectory that keeps the vehicle 3, 3.1 on the lane 2.
  • the trailer 3.1 can be reduced by an intervention in the brake system and / or the drive train of the towing vehicle 3, the speed of the team, if necessary to a stop, to a collision with a vehicle 6 of the To prevent oncoming traffic.
  • step 30 with the aid of the video sensor 51 of the driver assistance system 50, the lane markings 2.1 and 2.2 are detected and from this the course of the lane 2 is determined.
  • step 31 the position of the towing vehicle 3 with respect to the lane 2 is detected. In particular, the curvature of the lane 2, the width of the lane, the distance of the vehicle 3 to the edges of the lane 2 (lane markings 2.1, 2.2), the previous course of the lane 2 and, if possible, the future course of the lane. 2 , considered.
  • step 32 the optimal trajectory of the towing vehicle 3, or the team 3, 3.1 is determined.
  • the data of the trailer 3.1 can be transmitted to the driver assistance system 50 as a parameter, for example by manual input via a control panel. If the trailer 3.1 via a memory device 60 ( FIG. 6 ), in If its characteristic parameters are permanently stored, these parameters can advantageously also be transferred automatically to the driver assistance system 50 when the trailer 3.1 is coupled to the towing vehicle 3.
  • the data can be transmitted via a line 61 between the trailer 3.1 and the towing vehicle 3.
  • the data can also be transmitted via a wireless connection 62 (FIG. FIG. 6 ), in particular a radio connection are transmitted.
  • the towing vehicle 3 comprises a corresponding receiving device 52.
  • step 40 the team 3, 3.1 approaches a risk area, for example one of the points P1, P2, P3 of FIG FIG. 1 and FIG. 2 .
  • step 41 it is checked whether the trailer 3.1 exceeds the lane marking 2.1 (point P1 in FIG. 1 , Point P2 in FIG. 2 ). If this is not the case, then via step 41b a branch is made to step 45. In this state, the LDW Assistance feature does not generate a warning because there is no risk.
  • step 41a If it is determined in step 41 that the trailer 3.1 exceeds a lane mark 2.1, 2.2, in a first variant, via step 41a, a branch is made to step 42.
  • step 42 it is determined that the tail of the trailer 3.1 pivots over the lane marker 2.2 ( FIG. 2 , Arrow 5, point P3). There is thus the risk that the trailer 3.1 protrudes at least partially in an adjacent lane when driving the team 3, 3.1.
  • step 44 in which the LDW assistance function of the driver assistance system 50 causes a warning in the form of an optical and / or acoustic and / or haptic signal.
  • a branch is made to step 43 via step 41c.
  • step 43 it is determined that wheels of trailer 3.1 are likely to leave the lane (for example point P1 in FIG. 1 or point P2 in FIG. 2 ), when the team 3, 3.1 makes no change of direction.
  • the LDW assistance function of the driver assistance system 50 causes a warning in the form of an optical and / or acoustic and / or haptic signal.
  • an LKS assistance function of the driver assistance system 50 can also be activated. This assistance function then ensures, for example by intervention in the steering system of towing vehicle 3.1, that the combination travels a lower-risk trajectory.
  • the driver assistance system 50 by intervention in the braking system of the towing vehicle 3.1, also decelerate the vehicle to a standstill if necessary, if this requires the traffic situation. For example, this may be useful when oncoming traffic is approaching and the trailer of the team could get into the oncoming lane when continuing the team. After passing oncoming traffic, the team could then continue its journey unhindered.
  • the driver assistance system 50 can be equipped with an on-board navigation system 54 (FIG. FIG. 5 ) and thus access its database. Since this database includes information about the type and condition of the traffic routes, bridges, tunnels and the like, the driver assistance system 50, knowing the data of the team 3, 3.1, check whether driving on the planned route with the team is even possible. For example, it can be checked whether the passage height of a bridge lying on the route allows passing through a trailer 3.1 provided with a high body or not. If it is not possible to pass the bridge, the LDW assistance function can generate a corresponding warning.
  • a warning can likewise advantageously be issued.
  • the driver assistance system 50 in conjunction with the navigation system 54, then suggest a more suitable alternative route.
  • the invention can be advantageously used in special vehicles, such as heavy-duty transporters.
  • special vehicles such as heavy-duty transporters.
  • Such vehicles have, as a rule, a plurality of individually steerable axles.
  • the invention now allows a high degree of automation of the control of such a special vehicle, which is still carried out today mostly manually and under visual control of accompanying personnel.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Claims (9)

  1. Système (50) d'assistance au conducteur qui présente au moins un détecteur vidéo (51) qui, lorsque le véhicule tracte (3) au moins une remorque (3.1) en formant un convoi (3, 3.1) qui circule sur la voie de circulation, saisit la bande de circulation (2) sur laquelle le véhicule se trouve et qui comprend des moyens qui transmettent des paramètres de fonctionnement de la remorque (3.1) au système (50) d'assistance au conducteur,
    le système d'assistance au conducteur étant configuré de manière à former un signal d'avertissement et/ou à intervenir sur le système de direction du véhicule tracteur si la remorque (3.1) du convoi traverse la limite (2.1) de la bande de circulation ou déborde du marquage (2.2) qui délimite la bande de circulation.
  2. Système d'assistance au conducteur selon la revendication 1, caractérisé en ce que les moyens comprennent un dispositif de mémoire (60) disposé dans la remorque (3.1) et un dispositif de réception (52) disposé dans le véhicule tracteur (3).
  3. Système d'assistance au conducteur selon l'une des revendications précédentes, caractérisé en ce qu'un conducteur (61) ou une liaison sans fil (62) sont prévus pour transmettre les données entre la remorque (3.1) et le véhicule tracteur (3).
  4. Système d'assistance au conducteur selon l'une des revendications précédentes, caractérisé en ce que le système (50) d'assistance au conducteur comprend un système de navigation (54) ou au moins est relié à un tel système.
  5. Système d'assistance au conducteur selon l'une des revendications précédentes, caractérisé en ce que le système (50) d'assistance au conducteur comprend un dispositif d'introduction qui permet d'introduire des paramètres de fonctionnement d'un convoi (3, 3.1) et en particulier d'introduire des paramètres de fonctionnement d'une remorque (3.1).
  6. Procédé de commande d'un système d'assistance au conducteur selon l'une des revendications précédentes, caractérisé en ce que dans le cas d'un convoi, et en tenant compte de paramètres de fonctionnement de la remorque (3.1) du convoi et du déroulement de la bande de circulation (2) sur laquelle le convoi se déplace, un signal d'avertissement est formé et/ou une intervention a lieu dans le système de direction du véhicule tracteur (3) si la remorque (3.1) du convoi traverse la limite (2.1) de la bande de circulation ou déborde d'un marquage (2.2) qui délimite la bande de circulation.
  7. Procédé de commande d'un système d'assistance au conducteur selon la revendication 6, caractérisé en ce qu'il forme un signal d'avertissement optique et/ou un signal d'avertissement acoustique et/ou un signal d'avertissement tactile.
  8. Procédé selon les revendications 6 ou 7, caractérisé en ce que lorsque le système (50) d'assistance au conducteur détecte une zone de risque, il guide le convoi (3, 3.1) sur une trajectoire moins risquée.
  9. Procédé selon l'une des revendications 6 à 8 qui précèdent, caractérisé en ce que lorsque le système d'assistance au conducteur détecte une zone de risque associée aux véhicules qui circulent en sens inverse, il ralentit au moins le déplacement du convoi ou, en cas d'urgence, le freine au moins temporairement jusqu'à l'arrêt.
EP07118221A 2006-11-07 2007-10-10 Système d'assistance d'un conducteur Not-in-force EP1921591B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006052469A DE102006052469A1 (de) 2006-11-07 2006-11-07 Fahrerassistenzsystem

Publications (2)

Publication Number Publication Date
EP1921591A1 EP1921591A1 (fr) 2008-05-14
EP1921591B1 true EP1921591B1 (fr) 2009-10-07

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ID=38819843

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07118221A Not-in-force EP1921591B1 (fr) 2006-11-07 2007-10-10 Système d'assistance d'un conducteur

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EP (1) EP1921591B1 (fr)
DE (2) DE102006052469A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE1751283A1 (en) * 2017-10-16 2019-04-17 Scania Cv Ab Method and control arrangement for lateral vehicle displacement

Families Citing this family (8)

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DE102012004791A1 (de) 2012-03-07 2013-09-12 Audi Ag Verfahren zum Warnen des Fahrers eines Kraftfahrzeugs vor einer sich anbahnenden Gefahrensituation infolge eines unbeabsichtigten Driftens auf eine Gegenverkehrsfahrspur
DE102015012362A1 (de) 2015-09-19 2017-03-23 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Verfahren zur Unterstützung eines Fahreres eines Kraftfahrzeuggespanns, Computerprogrammprodukt, Spurhalteassistent
DE102016117438A1 (de) * 2016-09-16 2018-03-22 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren und Vorrichtung zum Steuern einer Bewegung eines Fahrzeugs und Fahrzeugbewegungssteuersystem
DE102017215316A1 (de) * 2017-09-01 2019-03-07 Audi Ag Verfahren zum Unterstützen eines Benutzers beim Betreiben eines Kraftfahrzeugs im Anhängerbetrieb, Fahrerassistenzeinrichtung, und Kraftfahrzeug
DE102018205694B3 (de) 2018-04-16 2019-06-27 Zf Friedrichshafen Ag System und Verfahren zum Erfassen eines Umfelds eines Fahrzeugs, Fahrzeug mit einem System zur Umfelderfassung und Verfahren zum Notbremsen eines Fahrzeugs
DE102019200124A1 (de) * 2019-01-08 2020-07-09 Zf Friedrichshafen Ag Verfahren zum Betreiben eines Antriebsstranges eines Gespanns
DE102019205365A1 (de) 2019-04-12 2020-10-15 Volkswagen Aktiengesellschaft Kraftfahrzeug und Verfahren zur Kollisionsvermeidung
DE102021128362A1 (de) 2021-10-29 2023-05-04 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und verfahren zum unterstützen eines fahrers eines gespanns bei fahrtbeginn, assistenzsystem für ein zugfahrzeug sowie computerlesbares (speicher)medium

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DE10125966A1 (de) * 2000-09-16 2002-05-02 Daimler Chrysler Ag Kurvenwarnsystem
GB0302837D0 (en) * 2003-02-07 2003-03-12 Ford Global Tech Inc Vehicle steering aids
US7229139B2 (en) * 2004-03-18 2007-06-12 Ford Global Technologies, Llc Control system for brake-steer assisted parking and method therefor
GB2414128B (en) * 2004-05-13 2006-04-26 Shih-Hsiung Li Vehicular monitoring system with a multi-window display

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE1751283A1 (en) * 2017-10-16 2019-04-17 Scania Cv Ab Method and control arrangement for lateral vehicle displacement

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Publication number Publication date
DE502007001671D1 (de) 2009-11-19
EP1921591A1 (fr) 2008-05-14
DE102006052469A1 (de) 2008-06-26

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