EP2147422A1 - Procédé et dispositif permettant d'empêcher une collision entre des véhicules - Google Patents

Procédé et dispositif permettant d'empêcher une collision entre des véhicules

Info

Publication number
EP2147422A1
EP2147422A1 EP07785800A EP07785800A EP2147422A1 EP 2147422 A1 EP2147422 A1 EP 2147422A1 EP 07785800 A EP07785800 A EP 07785800A EP 07785800 A EP07785800 A EP 07785800A EP 2147422 A1 EP2147422 A1 EP 2147422A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
vehicles
data
information
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.)
Withdrawn
Application number
EP07785800A
Other languages
German (de)
English (en)
Inventor
Istvan ERDÖS
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.)
Continental Teves Hungary Kft
Original Assignee
Continental Teves Hungary Kft
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 Continental Teves Hungary Kft filed Critical Continental Teves Hungary Kft
Publication of EP2147422A1 publication Critical patent/EP2147422A1/fr
Withdrawn legal-status Critical Current

Links

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
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters

Definitions

  • the present invention relates to a method and a device for collision avoidance, in particular for motor vehicles.
  • a method and a device is required by means of which the vehicle can signal, prepare and / or independently carry out the necessary steps such as avoidance or braking for the driver.
  • a collision avoidance system is known in which a sensor detects a plurality of potential collision objects and with the aid of the acquired data a possible collision is predicted.
  • braking means and / or steering means are activated by a vehicle control unit in order to avoid a collision. It is not stated how a control unit decides whether the steering means, the braking means or both must be used to avoid the collision.
  • the known methods and devices for collision avoidance use in the interpretation of a present driving situation individual driving situation typical information to perform a subsequent assessment.
  • the disadvantage here is that other information to improve the driving situation assessment can not be flexibly and easily evaluated.
  • the invention has for its object to provide a method and apparatus for preventing collision, with electronically controlled vehicle safety and Driver assistance systems, as well as positioning and communication systems interacts and thus allows the driver of the vehicle to avoid a collision on public roads, in a simple and robust way between different control means to collision avoidance under real-time conditions with or without the driver and regardless of the Type of necessary driving maneuvers is selected.
  • control means be present for influencing a vehicle movement, and that information about potential collision objects, for example, be detected by sensor means.
  • the applicability of the collision avoidance control means is judged from this information, and then an application of the control means is decided.
  • the control means may comprise means for automatic braking and / or means for automatic steering.
  • Another preferred embodiment is formed by subsequent expansion.
  • a synchronization of the position and dynamic information between the own vehicle and the neighboring vehicles is performed. This allows the use in difficult traffic situations, which are caused by complex roadway facilities, such. Junction of multiple roads, multi-lane roads in two directions, roundabout, etc. It is provided here, as in the previous embodiments, that the operation of the individual vehicle safety systems is constantly ensured, available and can be used.
  • Another preferred embodiment includes an extension for interpreting traffic signs.
  • the vehicles equipped with the device according to the invention can be controlled so as to observe the general traffic rules, such as, e.g. Top speeds, right of way and any other intention of the driver disregarded.
  • Another preferred embodiment allows special vehicles to give priority in certain traffic situations in order to assist them in fulfilling their particularly important task. For example, a corresponding safely drive over equipped intercrossing vehicles by instructing the intersecting traffic to stop.
  • Fig. 1 is a block diagram with the device according to the invention in the interaction of different vehicle systems
  • Fig. 3 is a flowchart for carrying out the receiving operation and the interplay with a database
  • vehicle 1 there are at least one communication, a position determination, vehicle safety, driver assistance system 11/12/13/14.
  • Fig. 1 represents a configuration of the device according to the invention in a vehicle 1.
  • other functional components may be used for e.g. the chassis control units, such as the active suspension or height adjustment systems, are addressed by the method according to the invention or the device according to the invention.
  • the communication system 110 supports different mobile Transmission methods that perform an information distribution in the so-called broadcast mode.
  • a broadcast or broadcast in a computer-based network is a message in which data packets are transmitted from one point to all subscribers of a network.
  • Positioning systems 12 serve to determine the own position. Positioning systems are GPS transmitters and receivers as well as navigation systems. According to the invention, integrated position determination systems that combine both functionalities in one device can also be used.
  • Vehicle safety systems may include electronic break system (EBS) 131, engine management system (EMS) 132, anti-lock braking system (ABS) 133, traction control (ASR), electronic stability program (ESP), electronic differential lock (ESC). EDS), transmission control unit (TCU), electronic brake force distribution (EBV) and / or engine drag torque control (MSR).
  • EBS electronic break system
  • EMS engine management system
  • ABS anti-lock braking system
  • ESP traction control
  • ESP electronic stability program
  • ESC electronic differential lock
  • EDS transmission control unit
  • TCU electronic brake force distribution
  • MSR engine drag torque control
  • Driver assistance systems 14 are electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground. These systems partially or autonomously intervene in propulsion, control (e.g., gas, brake) or signaling devices of the vehicle, or warn by appropriate means
  • driver assistance systems are, for example, parking aid (sensor arrays obstacle and Distance Detection), Brake Assist (BAS), Cruise Control, Adaptive Cruise Control (ACC) 141, Distance Alert, Turn Assistant, Traffic Jam Assistant, Lane Detection System, Lane Departure Warning (Lane Depart- ure Warning (LDW)) 142, Lane Keeping Support )), Lane change assistant, lane change support, Intelligent Speed Adaptation (ISA), adaptive cornering light, tire pressure monitoring system, driver condition detection,
  • Receiving and updating the information from the neighboring vehicles takes place in the way that the neighboring ones Vehicles continuously transmit their position and dynamic information packets (PDP) 2 via the communication system located in the respective vehicle and responsible for the exchange of information between at least two vehicles.
  • PDP position and dynamic information packets
  • the position and dynamic information packages 2 representing and distributing the respective vehicle contain information, e.g. the vehicle identifier 21, the GPS data with accurate lane keeping information 22, the individual vehicle parameters 23, e.g. the vehicle geometry with length 231, width 232, turning circle, the vehicle type (car / off-road vehicle / small truck / truck / etc.) 233, the previously known information of the vehicle dynamics 24 with max. Longitudinal acceleration and deceleration 241, max. Transverse acceleration 242, max. Vehicle speed 23, the current vehicle speed 245, the longitudinal acceleration, the lateral acceleration, the current yaw rate, the current steering angle.
  • the position and dynamics information packages 2 contain information about the vehicle safety systems 25 currently active in the respective vehicle and driver assistance systems 25, as well as information about the roadway parameters 26, such as, for example, Slope angle and estimated friction. Further fields are provided in the position and dynamic information packages 2 for optional information 27.
  • the position and dynamic information of all neighboring vehicles, with which the own vehicle communicates, are stored in a dynamically updated, internal memory, which can be configured as a database. If the sending vehicle already has an active position and dynamic information package in the database, ie it is already "recognized" by the receiving own vehicle, the data is updated with the latest position and dynamic information packages.
  • the position and dynamic information packages 2 of a vehicle leaving the zone and no longer sending data after an active period of time are removed from the database.
  • the updating and transmission of one's own position and dynamic data of the own vehicle takes place in such a way that the same data as described are recorded and calculated in the own vehicle and the entire position and dynamic data packet is transmitted by the own communication system to the neighboring vehicles.
  • a particular subset of the measured data provided by the functional components listed is input directly into the position and dynamics data packet to be transmitted, such as the yaw rate from the EBS.
  • the remaining data are derived, such as the maximum torque, the gear ratio and the vehicle weight, which together define the acceleration capacity of the vehicle.
  • the method or the device thus calculates all data to be derived from the existing information sources and transmits the entire data packet.
  • the position and the dynamics The micro data of the own vehicle are processed by the neighboring vehicles in the same way.
  • the exact data of the vehicle position are of particular importance in the identification of dangerous situations.
  • the exact position data of each vehicle is calculated in the following manner.
  • the position data of the first positioning system which may be implemented as a GPS transceiver, is used as basic information. This data is transmitted to the map of the second positioning system, such as a navigation system. Finally, the information from the driver assistance systems is supplemented by the data of the navigation system, resulting in a precise map indicating the position of each vehicle located on the various lanes of the road. This high resolution position data is required for the identification of dangerous dynamic maneuvers at high speed.
  • An important factor in the prediction of collisions is the estimation of the trajectories for the own vehicle and the neighboring vehicles. This is based on the data of the second positioning system, the determined exact map, the position and dynamic information package about the vehicle dynamics and the detected potentially dangerous driving situation.
  • the dangerous driving situations such as Overtaking, changing lanes, crossing, etc. are determined by information stored in the database and dynamic hazards, such as a loss of vehicle stability due to skidding, which is detected by the individual driving safety systems.
  • the method according to the invention first of all reduces the number of observed vehicles by excluding relevant vehicles from relevant ones. All vehicles that are not considered relevant have no influence on the traffic situation in which the own vehicle is involved due to its physical distance, direction of travel or speed.
  • the system simply warns the driver and informs him of the most effective corrective action, via easy-to-interpret on-dash signs or via an electrical or electronic playback device.
  • the driver is left with vehicle control as long as it is possible and a collision is avoided.
  • the method according to the invention takes the control of the vehicle safety and vehicle assistance systems to initiate the direct intervention in the control of the own vehicle and to correct the trajectory of the own vehicle such as by braking and / or accelerating and / or steering.
  • the controls of the driver assistance and vehicle safety systems and the control means controlled by them directly carry out the required corrective measures or restore vehicle stability. By causing the corrective action to be taken by the vehicle assistance systems, it is ensured that no passive obstacles occur during the intervention or that vehicles appear unexpected.
  • the method according to the invention always specifies a higher priority of the vehicle safety systems having a passive obstacle detection during the intervention.
  • the data field (flag) 'Collision avoidance active' is set in the position and dynamic data packet of the own vehicle in order to inform the road users in the neighboring vehicles about their own corrective measures in a possible dangerous situation.
  • the other vehicles which are equipped with the device according to the invention are enabled to take no further corrective action which can lead to further dangerous situations, so that the decision about, for example, the action or the assumption of control synchronizing the corrective actions of the various vehicles involved / affected.
  • the device according to the invention immediately transfers the control back to the driver, so that the vehicle remains stable.
  • Steps 1-5 are carried out in each control loop of the device according to the invention.
  • This high-resolution control loop enables the corrective action to be performed correctly at high speed.
  • the intervention in the vehicle control requires a high degree of reliability for the entire device. This is ensured via the fail-safe concept of the installed vehicle safety systems, such as EBS, ESAS, and driver assistance system ACC, etc. and the concept of the decision to take over the control of the collision warning system.
  • the method according to the invention and the device according to the invention increase traffic safety, since it recognizes complex traffic situations in which numerous vehicles are involved, and not only solves individual dangerous situations during driving, such as driving. the loss of stability while driving.
  • a network of vehicles having the device according to the invention represents a distributed traffic control.
  • it forms a cost-effective alternative to the so-called intelligent traffic control systems, since no complex and expensive structures on the road and highway are required.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé et un dispositif permettant de mettre en oeuvre ledit procédé. Le procédé et le dispositif comprennent la transmission d'informations entre différents véhicules au moyen d'un système de communication. Les informations de position et de comportement dynamique précises déterminées sont respectivement transmises à une carte électronique locale qui représente la situation de circulation actuelle. Les données concernant le comportement dynamique du véhicule permettent de prévoir les intentions du conducteur lui-même et les intentions des conducteurs dans les véhicules voisins, ainsi que les trajectoires qui en résultent. Des situations dangereuses sont alors identifiées lorsqu'au moins deux trajectoires se recoupent dans la même fenêtre temporelle.
EP07785800A 2006-05-17 2007-05-16 Procédé et dispositif permettant d'empêcher une collision entre des véhicules Withdrawn EP2147422A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102006023339 2006-05-17
DE102007002569 2007-01-17
PCT/EP2007/004415 WO2007131801A1 (fr) 2006-05-17 2007-05-16 Procédé et dispositif permettant d'empêcher une collision entre des véhicules

Publications (1)

Publication Number Publication Date
EP2147422A1 true EP2147422A1 (fr) 2010-01-27

Family

ID=38537628

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07785800A Withdrawn EP2147422A1 (fr) 2006-05-17 2007-05-16 Procédé et dispositif permettant d'empêcher une collision entre des véhicules

Country Status (3)

Country Link
EP (1) EP2147422A1 (fr)
JP (1) JP2009537367A (fr)
WO (1) WO2007131801A1 (fr)

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JP5206452B2 (ja) * 2009-02-02 2013-06-12 日産自動車株式会社 車両走行支援装置及び車両走行支援方法
DE102010022706B4 (de) * 2010-06-04 2020-08-13 Volkswagen Ag Verfahren zur adaptiven Parametrisierung von Fahrerassistenzsystemen und Pre-Crash-Sicherheitssystemen
DE102012210344A1 (de) * 2012-06-19 2013-12-19 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Erkennung von Kollisionsgefahren
KR101511865B1 (ko) * 2013-11-04 2015-04-13 현대오트론 주식회사 적응형 순항제어장치 및 그 제어방법
KR101511864B1 (ko) 2013-11-04 2015-04-13 현대오트론 주식회사 적응형 순항제어장치 및 그 제어방법
JP6213779B2 (ja) * 2014-04-14 2017-10-18 パナソニックＩｐマネジメント株式会社 無線装置
JP6958229B2 (ja) * 2017-10-24 2021-11-02 株式会社デンソー 走行支援装置
KR20190070001A (ko) * 2017-12-12 2019-06-20 현대자동차주식회사 능동형 충돌 회피 제어 기반 군집 주행 제어 장치, 그를 포함한 시스템 및 그 방법
CN108646732A (zh) * 2018-04-20 2018-10-12 华东交通大学 基于驾驶人操控意图的车辆轨迹预测方法、装置及系统
JP6911810B2 (ja) 2018-05-16 2021-07-28 トヨタ自動車株式会社 車外情報共有システム、車外情報共有装置及び車外情報共有方法
DE102019203516A1 (de) * 2019-03-15 2020-09-17 Zf Friedrichshafen Ag Antriebssystem für ein Fahrzeug sowie Verfahren zur automatischen Betätigung einer Sperreinrichtung
CN111812602A (zh) * 2020-07-07 2020-10-23 南京隼眼电子科技有限公司 驾驶辅助系统性能的评估方法及存储介质

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EP1223567A1 (fr) * 2001-01-11 2002-07-17 Siemens Aktiengesellschaft Procédé de communication entre véhicules des données individualisées
US20020198660A1 (en) * 2001-06-26 2002-12-26 Medius, Inc. Method and apparatus for transferring information between vehicles

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US20020198660A1 (en) * 2001-06-26 2002-12-26 Medius, Inc. Method and apparatus for transferring information between vehicles

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See also references of WO2007131801A1 *

Also Published As

Publication number Publication date
WO2007131801A8 (fr) 2008-12-24
WO2007131801A1 (fr) 2007-11-22
JP2009537367A (ja) 2009-10-29

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