EP1933291B1 - Dispositif d'assistance d'un conducteur et procédé pour guider le trafic - Google Patents

Dispositif d'assistance d'un conducteur et procédé pour guider le trafic Download PDF

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Publication number
EP1933291B1
EP1933291B1 EP07118535A EP07118535A EP1933291B1 EP 1933291 B1 EP1933291 B1 EP 1933291B1 EP 07118535 A EP07118535 A EP 07118535A EP 07118535 A EP07118535 A EP 07118535A EP 1933291 B1 EP1933291 B1 EP 1933291B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
priority
priority identifier
identifier
driver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP07118535A
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German (de)
English (en)
Other versions
EP1933291A1 (fr
Inventor
Omar Alaa El-Din
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
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1933291A1 publication Critical patent/EP1933291A1/fr
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Publication of EP1933291B1 publication Critical patent/EP1933291B1/fr
Expired - Fee Related 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
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle

Definitions

  • the present invention relates to a driver assistance device for or in a vehicle, and also to a method for traffic guidance between a first vehicle and a second vehicle.
  • the KR-2003096891-A discloses a method for supporting an ambulance vehicle by means of a wireless network comprising a stationary server for managing the rescue vehicle and radio stations located along lanes. In order to evacuate a lane for the rescue vehicle, the radio stations stationed at that lane are instructed by the server to send a warning message to the ordinary vehicles running in the lane.
  • the US 2005/0088318 discloses a method for wireless communication from vehicle to vehicle that manages without a stationary network.
  • a separate priority channel is used for sending priority messages.
  • a leader repeatedly sends a priority message and pauses between retries until a maximum number of retries is reached.
  • the WO-A197 / 20296 describes a procedure by which a vehicle receives signals from other vehicles or roadside transmitters. From the received signals, information is derived, wherein in one embodiment, the presence of an emergency vehicle is displayed to the driver. In this case, it is assumed in the comparison of the received information that the presence of an emergency vehicle has a higher priority than roadside hazards.
  • the present invention provides a driver assistance device for or in a vehicle according to claim 1.
  • the device comprises a memory which stores a self-priority identifier of the vehicle and a receiver which receives a foreign wireless signal comprising a foreign-priority identifier. Also provided is a priority comparator which compares whether the foreign priority identifier identifies a higher priority than the self-priority identifier, and a driver information unit which outputs information to a driver of the vehicle if the foreign priority identifier identifies a higher priority than the self-priority identifier.
  • the driver assistance device has the advantage that it manages without a stationary radio network, that is based on pure vehicle-to-vehicle communication.
  • a particular cost advantage arises from the fact that the priority identifier is stored in memory, which makes it possible to install the same type of driver assistance device both in ordinary vehicles and, for example, in rescue or police vehicles.
  • the invention makes it possible, for example, to store the priority identifier as a number, so that a fine grading of different priorities can be achieved, whereby, for example, buses can be assigned a higher priority than ordinary passenger vehicles, but a lower one than they are assigned to rescue vehicles , By securing the memory, for example by using a chip card, it is also possible to prevent a misappropriation of a higher priority.
  • a transmitter is further provided which emits a self-priced self-contained wireless intrinsic signal of the vehicle. This makes it possible to communicate to foreign, equally equipped vehicles their own priority, so that they can respond accordingly, for example by an evasive maneuver of the foreign vehicle, if its priority is lower than its own priority.
  • a converter which re-transmits information of the wireless external signal.
  • a particularly high radio range can be achieved by a vehicle passing the received signal in the manner of a chain to the next vehicle.
  • e.g. Receive a message of ambulance from numerous vehicles along a long section of a lane, which intends to drive the ambulance.
  • a vehicle control unit which intervenes in a control of the vehicle when the foreign priority identifier indicates a higher priority than the self-priority identifier. This has the particular advantage that even if the driver of the vehicle overlooks the information output or intentionally ignores the vehicle, e.g. can be steered from a required by an emergency vehicle lane.
  • the present invention provides a method of routing traffic between a first vehicle and a second vehicle according to claim 5.
  • the method comprises the following steps. First, a priority identifier of the first vehicle is stored. In a further step, a wireless received signal is received, which comprises a priority identifier of the second vehicle. Subsequently, it is compared whether the priority identifier of the second vehicle has a higher priority than the priority identifier of the first vehicle. If the priority identifier of the second vehicle indicates a higher priority than the priority identifier of the first vehicle, information is output to a driver of the first vehicle. Preferably, a step of sending a the Priority identifier of the first vehicle comprehensive wireless transmission signal provided.
  • the received wireless external signal comprises position data of the second vehicle. Furthermore, it may be provided to likewise determine position data of the first vehicle. On the basis of the position data of the first vehicle and the position data of the second vehicle is judged whether an encounter of the first vehicle and the second vehicle is imminent, the information is output to the driver only if so. This makes it possible to separate information relevant to the vehicle concerned from what is not relevant.
  • the position data of the first and / or the second vehicle include data about a direction of movement of the first and second vehicle. Such data are in particular a navigation destination, a driving speed and / or a lane assignment. In this way it is possible to determine with greater certainty whether the vehicles are moving towards each other.
  • a step of intervention in a control of the first vehicle is further provided if the foreign priority identifier indicates a higher priority than the self-priority identifier.
  • the intervention in the control preferably takes place in such a way that the first vehicle evades the second vehicle, thereby allowing the latter free travel.
  • the first vehicle deviates from a first lane to a second lane, e.g. from a lane in the middle of the lane to a lane at the edge of the lane.
  • FIG. 12 shows a block diagram of a driver assistance apparatus 100 for a vehicle according to an embodiment of the invention.
  • the driver assistance apparatus 100 includes a receiver 106 connected to a receiving antenna 107 and a transmitter 112 connected to a transmitting antenna 314.
  • a single antenna can simultaneously function as the receiving and transmitting antenna.
  • a converter 114th In a signal path between receiver 106 and transmitter 112 is a converter 114th
  • the transmitter 112 is connected to a memory 104 in which a priority identifier 105 of the vehicle is stored.
  • the priority identifier is exemplified here as "P3" corresponding to a level on a given priority scale. Alternatively, the priority may also be infinitely variable, e.g. be defined as a real number, or as a multidimensional vector.
  • the transmitter 112 is connected to a positioning unit 124, which provides data about the current position of the vehicle. This data may e.g. Geographical coordinates derived from a GPS receiver, as well as navigation targets of a navigation device on board the vehicle, or a speed of travel of the vehicle tapped at the tachometer.
  • a priority comparator 108 is in communication with the receiver 106.
  • the priority comparator 108 as well as the transmitter 112, is connected to the memory 104 and the positioning unit 124.
  • the priority comparator 108 provides signals to a driver information unit 110 for outputting information to the driver. For this purpose, this contains suitable means such as speakers or display elements.
  • the priority comparator 108 provides signals to a vehicle control unit 115 which is connected to the controller 116 of the vehicle and can intervene in it.
  • the transmitter 112 transmits a wireless communication signal 122 of the vehicle, which includes the priority identifier 105 of the vehicle. Not shown are the position information that the transmitter 112 receives from the positioning unit 124 and also transmits with the communication signal 122 of the vehicle.
  • the receiver 106 simultaneously receives corresponding communication signals 118 from one or more other nearby vehicles.
  • the communication signal 118 shown contains a priority identifier 120 of a foreign vehicle, identified here by way of example as "P1".
  • FIG. 2 shows a flowchart of a method for traffic guidance between a first vehicle and a second vehicle according to an embodiment of the invention, for example by means of driver assistance devices such as in Fig. 1 shown, which are each installed in the vehicles.
  • a priority identifier of the first vehicle is stored, for example in a memory like the one in FIG Fig. 1 shown.
  • this priority identifier is transmitted as part of a wireless communication signal of the vehicle, so that located nearby other vehicles, including the aforementioned second vehicle, the priority of the first vehicle can refer to the signal.
  • a wireless reception signal of the second vehicle is received.
  • This received signal comprises in an analogous manner a priority identifier of the second vehicle.
  • position data of the second vehicle such as location, speed and an identifier of the road and lane on which the second vehicle is moving.
  • branching step 204 it is compared whether the priority identifier of the second vehicle is higher in priority than the priority identifier of the first vehicle.
  • the comparison may, for example, be a simple comparison of the sizes of two real numbers, or else an evaluation of a complex priority identifier composed of different constituents, which takes place according to any predetermined algorithm. If the priority identifier of the second vehicle does not indicate a higher priority than the priority identifier of the first vehicle, a branch is made to alternative 218 and a communication signal is sent again in step 208.
  • step 210 position data of the first vehicle are then determined. Alternatively, this determination can also be made at the beginning of the method, so that the position data of the first vehicle can be transmitted, for example, with the communication signal transmitted in step 208.
  • step 212 whether or not an encounter of the first vehicle and the second vehicle is imminent is judged based on the position data of the first vehicle and the position data of the second vehicle. If this is not the case, the vehicle is ignored, branched to alternative 222 and the method continues with the retransmission of the communication signal in step 208. If, however, it appears that an encounter of the first vehicle and the second vehicle is imminent, a branch is made to alternative 220 and, in step 206, information is output to a driver of the first vehicle, for example by an optical or acoustic signal. In step 214, the driver assistance device actively intervenes in the control, for example, to avoid the first vehicle before the probable encounter with the second vehicle.
  • FIG. 3 shows a view from above of such an evasive maneuver.
  • a section of a road 300 with a right lane 304 and a left lane 302, on which three vehicles 306, 308, 310 move, can be seen.
  • Each vehicle 306, 308, 310 receives the communication signals of the respective other vehicles.
  • the driver assistance device detects in the moving vehicle 306 that the rear-driving vehicles 310, 308 have a higher priority.
  • the received position data of the rear-left vehicle 310 has a higher vehicle speed
  • the position data received from the rear-right Vehicle 308 indicate a higher vehicle speed.
  • the driver assistance device comes to the conclusion that an encounter with the rear-left vehicle 310, but not with the rear-right vehicle 308 is imminent. Accordingly, information is output to the driver of the traveling vehicle 306 and an evasive maneuver 312 is initiated by the vehicle control unit from the left 302 to the right 304 lane.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Traffic Control Systems (AREA)

Claims (10)

  1. Dispositif d'assistance au conducteur (100) pour un ou dans un véhicule (306, 308, 310), comprenant :
    une mémoire (104) qui enregistre un identifiant de priorité propre (105) du véhicule ;
    un récepteur (106) qui reçoit un signal externe (118) sans fil comprenant un identifiant de priorité externe (120) d'un deuxième véhicule ;
    un comparateur de priorités (108) qui compare si l'identifiant de priorité externe caractérise une priorité supérieure à l'identifiant de priorité propre ;
    une unité d'information du conducteur (110) qui délivre une information au conducteur du véhicule lorsque l'identifiant de priorité externe caractérise une priorité supérieure à l'identifiant de priorité propre, le signal externe (118) sans fil reçu comprenant en plus des données de position du deuxième véhicule.
  2. Dispositif d'assistance au conducteur (100) selon la revendication 1, caractérisé en ce qu'il est en plus prévu un émetteur (112) qui émet un signal propre (122) sans fil du véhicule (306, 308, 310) comprenant l'identifiant de priorité propre.
  3. Dispositif d'assistance au conducteur (100) selon la revendication 1 ou 2, caractérisé en ce qu'il est en plus prévu un convertisseur (114) qui émet de nouveau les informations du signal externe (118) sans fil.
  4. Dispositif d'assistance au conducteur (100) selon l'une des revendications 1 à 3, caractérisé en ce qu'il est en plus prévu une unité de commande de véhicule (115) qui intervient dans une commande (116) du véhicule (102) lorsque l'identifiant de priorité externe caractérise une priorité supérieure à l'identifiant de priorité propre.
  5. Procédé de guidage du trafic entre un premier véhicule (306) et un deuxième véhicule (310) comprenant les étapes :
    enregistrement (200) d'un identifiant de priorité (105) du premier véhicule ;
    réception (202) d'un signal reçu (118) sans fil comprenant un identifiant de priorité (120) du deuxième véhicule ;
    comparaison (204) de l'identifiant de priorité du deuxième véhicule pour vérifier s'il caractérise une priorité supérieure à l'identifiant de priorité du premier véhicule ; et
    délivrance (206) d'une information à un conducteur du premier véhicule lorsque l'identifiant de priorité du deuxième véhicule caractérise une priorité supérieure à l'identifiant de priorité du premier véhicule,
    le signal reçu (118) sans fil reçu comprenant en plus des données de position du deuxième véhicule.
  6. Procédé selon la revendication 5, caractérisé en ce qu'il est en plus prévu une étape d'émission (208) d'un signal émis (122) sans fil comprenant l'identifiant de priorité (105) du premier véhicule (306).
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce que les étapes suivantes sont prévues en plus :
    détermination (210) des données de position du premier véhicule (306) ; et
    évaluation (212), au moyen des données de position du premier véhicule et des données de position du deuxième véhicule, de l'imminence d'une rencontre entre le premier véhicule et le deuxième véhicule ;
    l'information n'étant délivrée au conducteur que si une rencontre entre le premier véhicule et le deuxième véhicule est imminente.
  8. Procédé selon l'une des revendications 5 à 7, caractérisé en ce que les données de position du premier (306) et/ou du deuxième (310) véhicule comprennent des données sur un sens de déplacement du premier ou du deuxième véhicule et comprennent notamment une destination de navigation, une vitesse de déplacement et/ou une affectation de voie de circulation.
  9. Procédé selon l'une des revendications 5 à 8, caractérisé en ce qu'il est en plus prévu une étape d'intervention (214) dans une commande (116) du premier véhicule lorsque l'identifiant de priorité externe caractérise une priorité supérieure à l'identifiant de priorité propre.
  10. Procédé selon la revendication 9, caractérisé en ce que l'intervention (214) dans la commande s'effectue de telle sorte que le premier véhicule (306) évite (312) le deuxième véhicule (310) et notamment dévie d'une première voie de circulation (302) sur une deuxième voie de circulation (304).
EP07118535A 2006-12-14 2007-10-16 Dispositif d'assistance d'un conducteur et procédé pour guider le trafic Expired - Fee Related EP1933291B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006059067A DE102006059067A1 (de) 2006-12-14 2006-12-14 Fahrerassistenzvorrichtung und Verfahren zur Verkehrslenkung

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Publication Number Publication Date
EP1933291A1 EP1933291A1 (fr) 2008-06-18
EP1933291B1 true EP1933291B1 (fr) 2009-12-23

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DE (2) DE102006059067A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010007240A1 (de) * 2010-02-09 2011-08-11 Daimler AG, 70327 Verfahren zur Ermittlung eines Spurverlaufes einer Fahrstrecke
DE102011119208A1 (de) * 2011-11-23 2013-05-23 Audi Ag Verfahren zur Verkehrsflusssteuerung
CN104700638B (zh) * 2014-08-24 2017-09-29 安徽工程大学 路口交通系统及其控制方法
KR20190049824A (ko) 2016-09-09 2019-05-09 후아웨이 테크놀러지 컴퍼니 리미티드 차량 통행권 관리 방법 및 장치, 그리고 단말기
JP7251114B2 (ja) * 2018-11-19 2023-04-04 トヨタ自動車株式会社 運転支援装置、運転支援システム及び運転支援方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5594432A (en) * 1994-08-30 1997-01-14 Cobra Electronics Corp. Traffic information warning system
WO2001031609A1 (fr) * 1999-10-27 2001-05-03 MINGUELLA LLOBET, José María Systeme de signalisation de risque et/ou de secours pour le trafic de vehicules et de pietons utilisant une signalisation electromagnetique ou a infrarouges de courte portee
US6363325B1 (en) * 2000-01-31 2002-03-26 International Business Machines Corporation Automotive emergency awareness system

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DE502007002395D1 (de) 2010-02-04
DE102006059067A1 (de) 2008-06-19

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