EP2211322B1 - Verfahren und System zur Vermeidung von Frontalzusammenstößen in einem Fahrzeug - Google Patents

Verfahren und System zur Vermeidung von Frontalzusammenstößen in einem Fahrzeug Download PDF

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Publication number
EP2211322B1
EP2211322B1 EP09151294.7A EP09151294A EP2211322B1 EP 2211322 B1 EP2211322 B1 EP 2211322B1 EP 09151294 A EP09151294 A EP 09151294A EP 2211322 B1 EP2211322 B1 EP 2211322B1
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Prior art keywords
pedestrian
host vehicle
risk zone
collision avoidance
predicted
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English (en)
French (fr)
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EP2211322A1 (de
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Martin Andreasson
Carina Björnsson
Andreas Eidehall
Anders Agnvall
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Volvo Car Corp
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Volvo Car Corp
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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 present invention relates to an automotive vehicle forward collision avoidance system in accordance with the preamble of claim 1.
  • the present invention also relates to a method in an automotive vehicle forward collision avoidance system in accordance with the preamble of claim 9.
  • FCAS Forward Collision Avoidance System
  • An FCAS uses sensors based on technologies such as RADAR (RAdio Detection And Ranging), LIDAR (Light Detection And Ranging), LASER (Light Amplification by Stimulated Emission of Radiation) and cameras to monitor the region in front of the host vehicle.
  • RADAR RAdio Detection And Ranging
  • LIDAR Light Detection And Ranging
  • LASER Light Amplification by Stimulated Emission of Radiation
  • a tracking algorithm is used to estimate the state of the objects ahead and a decision algorithm uses the estimated states to determine any action, e.g. warning the driver or autonomous braking.
  • Automotive manufacturers are today studying collision avoidance systems providing warning and auto-braking functionality for an imminent collision with a pedestrian.
  • warning and auto-braking functionality is normally based on the use of sensors, such as mentioned above, in order to detect the position and motion of pedestrians.
  • a threat assessor estimates if the collision avoidance system equipped vehicle and the pedestrian is on a collision course by predicting the positions a short time in the future, usually one to three seconds.
  • FCW Forward Collision Warning
  • CMB Collision Mitigation by Braking
  • the decision of warning and auto-braking is based on predictions of the paths of the host vehicle and the target object.
  • the position and motion of the target object is, as mentioned above, measured with a sensor such as a camera, radar or laser equipment, or a combination thereof.
  • observation based prediction i.e. prediction based on an appropriate motion model and what may be observed and measured without assuming any change in behaviour, is sufficient for decision-making in FCW systems and CMbB systems.
  • An automotive vehicle forward collision avoidance system according to the preamble of claim 1 is known from EP 2001003 A1 .
  • One object of the invention is to provide an improved automotive vehicle forward collision avoidance system.
  • means for establishing the presence of a target object in front of a vehicle hosting said system comprising: means for estimating the position, velocity and acceleration of the target object; and means for establishing a risk zone in front of the host vehicle; and means for predicting the future path of the target object and the host vehicle in order to predict the lateral position of the target object at a moment when the host vehicle reaches the target object in a longitudinal direction; and means for executing a collision avoidance task arranged such that: - if the target object, based on its current position, velocity and acceleration, is predicted as being able to stop before entering the risk zone through applying a certain predetermined maximum acceleration in a direction opposite to its velocity, it is predicted to stop at a position just before entering the risk zone and no collision avoidance task is executed; and - if the target object, based on its current position, velocity and acceleration, is predicted as not being able to stop before entering the risk zone, then the future position of the target object is predicted using the assumption that the target object will continue to move according to an
  • a further object of the invention is to provide an improved method in an automotive vehicle forward collision avoidance system.
  • a collision avoidance task arranged such that: - if the target object, based on its current position, velocity and acceleration, is predicted as being able to stop before entering the risk zone, it is predicted to stop at a position just before entering the risk zone and no collision avoidance task is executed; and - if the target object, based on its current position, velocity and acceleration, is predicted as not being able to stop before entering the risk zone, then the future position of the target object is predicted using the assumption that the target object will continue to move according to an observation based motion model and a collision avoidance task is executed, a method is provided which renders fewer false alarms
  • FIG 1 illustrates schematically a Forward Collision Avoidance System (FCAS) 1, arranged in a host vehicle 2 in accordance with the present invention.
  • the host vehicle 2 has a breaking system 4 such as an Antilock Brake System (ABS system), e.g. with brake discs 6 and appertaining calipers 7 associated with each of the front wheels 8 and rear wheels 9 of the host vehicle 2.
  • the host vehicle 2 further usually has a power steering system 5, which is arranged to control the steering angle of the front wheels 8.
  • a sensor 3, such as a radar, a lidar, a laser or a camera based sensor is mounted at the front end of the host vehicle 2 and arranged to monitor the region in front of the host vehicle 2.
  • the FCAS is operatively connected with the braking system 4 of the host vehicle 2.
  • the FCAS is arranged to establish the presence of target objects in front of the host vehicle 2 and to estimate the position, velocity and acceleration of any target objects established to be present. These estimations are then used by the FCAS to determine how to avoid or mitigate collision with any target objects, e.g. by performing collision avoidance tasks such as providing warnings, e.g. using an acoustic and/or visual alarm actuated through an alarm actuator 12, or performing autonomous braking.
  • the present invention especially relates to prediction of future paths of pedestrians 10. It is also applicable to any other type of target object 10 that typically moves across a road rather than along it.
  • the solution makes use of the fact that pedestrians 10 are usually aware of the danger of entering the road and thus are not assumed to continue over the road according to an observation based motion model, such as with constant velocity, just because they temporarily have a motion towards it.
  • Pedestrians 10 are usually not users of the same road as the host vehicle 2 other than while crossing it. In case a pedestrian 10 moves towards the road as if it would cross it, it is likely to stop before crossing it if there is an upcoming vehicle. Since most pedestrians 10 are aware of the danger of entering a road, they are normally not likely to enter the road just because they temporarily have a motion towards it. Thus, using observation based motion prediction of the path of a pedestrian 10 yields an unacceptably large number of false alarms and interventions, especially in city environments where pedestrians 10 close to the road move in random directions, usually without entering the road.
  • the solution in accordance with the present invention is based on the use of two hypotheses. Firstly(illustrated at A in figure 3 ), that the pedestrian 10 will continue walking in the same direction and with the same acceleration as it currently is. Secondly (illustrated at B in figure 3 ), that the pedestrian 10 will stop before entering a risk zone in front of the host vehicle 2.
  • the pedestrian 10 is assumed to apply a certain acceleration in opposite direction to its velocity.
  • the assumed acceleration may be tuned differently depending on the area of application. For collision warning, the assumed acceleration may reflect the behavior of stopping in an ordinary way, whereas that of CMbB may rather reflect the acceleration of stopping abruptly.
  • the risk zone is an area representing the predicted coverage of the host vehicle 2, i.e. the area between the predicted path of the leftmost and rightmost parts of the host vehicle 2, i.e. as defined by the host vehicle width w, as illustrated in figure 3 .
  • the prediction with respect to the risk zone takes curvature into account by using the current yaw rate of the host vehicle 2 (the host vehicle's angular velocity around its vertical axis), i.e. if the host vehicle 2 is inside a curve, the risk zone will be curved accordingly.
  • an extra width d of the risk zone may be applied on each side of the host vehicle 2. The additional width d may depend on velocity and other factors in order to better reflect the perceived risk of the situation.
  • the area between the left hand side and right hand side lane markers 11 may be used to define the risk zone, rather than the host vehicle 2 width w and additional width d.
  • these lane markers 11 may be used for defining that side of the risk zone whilst using the host vehicle 2 width w and additional width d at the other side of the host vehicle 2.
  • lane marker sensors provide a good detection also of the boundary between the road and a sidewalk, i.e. the curb (not shown), which in such case may be used instead of the line markers for defining the risk zone in accordance with the present invention. This could be quite useful in urban areas, where line markers 11 are frequently replaced with curbs.
  • the risk zone may be defined to be wider than the host vehicle 2, e.g. the host vehicle 2 width w and additional width d or the width as defined by the lane markers 11.
  • the risk zone may be defined as having the width w of the host vehicle 2.
  • risk zone may be defined in a number of different ways in order to suit different applications and requirements.
  • the future path of the pedestrian 10 is predicted in order to find its lateral position y at the moment when the host vehicle 2 reaches the pedestrian 10 in a longitudinal direction x.
  • the second hypothesis (illustrated at B in figure 3 ), i.e. that the pedestrian 10 will stop before entering a risk zone in front of the host vehicle 2, results in a predicted position outside the risk zone it is assumed that the pedestrian 10 intends to stop before entering the risk zone.
  • the second hypothesis is then used when calculating the future path of the pedestrian 10.
  • the second hypothesis i.e. that the pedestrian 10 will stop before entering a risk zone in front of the host vehicle 2
  • yields a predicted position inside the risk zone it is assumed that the pedestrian 10 does not intend to stop (based on the fact that it is too late to stop in a reasonable manner) before entering the risk zone.
  • the first hypothesis i.e. that the pedestrian 10 will continue walking in the same direction and with the same acceleration as it currently is, is then used when calculating the future path of the pedestrian 10.
  • a third hypothesis may be used.
  • the pedestrian 10 accelerates in the other direction, i.e. that the pedestrian 10 will accelerate to escape the risk zone, rather than stop before entering it.
  • the proposed solution lies in using an improved motion model for pedestrians 10.
  • This improved motion model takes into account that a pedestrian 10 is likely to stop before entering a host vehicle 2 future path.
  • a predetermined maximum acceleration for pedestrians 10 is assumed.
  • a crossing vehicle not shown
  • this crossing vehicle is predicted to stop at a position just before entering the host vehicle 2 path.
  • a pedestrian 10, or a crossing vehicle is estimated as not being able to stop before entering the host vehicle 2 path, then the future position of this pedestrian 10, or crossing vehicle, is predicted using conventional motion models.
  • Conventional motion models typically means that it is assumed that the pedestrian 10, or crossing vehicle, will continue moving according to an observation based motion model, e.g. with a constant velocity in the current direction.
  • An advantage with the proposed solution compared to conventional methods, is that it will lead to fewer false alarms in pedestrian and intersection warning/intervention safety systems. In the end, it could be the difference between being able to reach an acceptable level of false alarms or not. Furthermore, when it is predicted that a pedestrian 10, or crossing vehicle, does not have the possibility to stop before entering the host vehicle 2 path, the confidence that there is a real threat is higher. Thus, the positive performance may also be increased, which in this case means earlier interventions and higher safety benefits by the system 1.
  • an automotive vehicle forward collision avoidance system 1 having means, such as a radar, a lidar, a laser or a camera based sensor 3 for establishing the presence of a target object 10 in front of a vehicle 2 hosting the system 1.
  • Means are provided for estimating the position, velocity and acceleration of the target object 10. Further means are provided for establishing a risk zone in front of the host vehicle 2. Also provided are means for predicting the future path of the target object 10 and the host vehicle 2 in order to predict the lateral position y of the target object 10 at a moment when the host vehicle 2 reaches the target object 10 in a longitudinal direction x.
  • Means are also provided for executing a collision avoidance task, which means are arranged such that: - if the target object 10, based on its current position, velocity and acceleration, is predicted as being able to stop before entering the risk zone through applying a certain predetermined maximum acceleration in a direction opposite to its velocity, it is predicted to stop at a position just before entering the risk zone, as illustrated at (B) in figure 3 , and no collision avoidance task is executed; and - if the target object 10, based on its current position, velocity and acceleration, is predicted as not being able to stop before entering the risk zone, then the future position of the target object 10 is predicted using the assumption that the target object 10 will continue to move according to an observation based motion model, as illustrated at (A) in figure 3 , and a collision avoidance task is executed.
  • the means for executing a collision avoidance task are arranged to provide at least one of a warning to a driver of the host vehicle 2 and autonomous braking of the host vehicle 2.
  • the means for establishing a risk zone in front of the host vehicle 2 are arranged to establish the risk zone as an area representing the predicted coverage of the host vehicle 2 based on the host vehicle 2 width w.
  • the means for establishing a risk zone in front of the host vehicle 2 are further arranged to establish the risk zone taking curvature into account by using the current yaw rate of the host vehicle 2 and curving the risk zone accordingly.
  • the means for establishing a risk zone in front of the host vehicle 2 are further arranged to establish the risk zone through, in addition to the host vehicle 2 width w, applying an extra width d on each side of the host vehicle 2, as illustrated in figure 3 .
  • the host vehicle 2 is equipped with a lane marker sensor (not shown) for detection of lane markers 11 and that either the area between the detected left hand side and right hand side lane markers 11 is used to define the risk zone or, in the case that only lane markers 11 at one side of the host vehicle 2 are detected, these detected lane markers 11 at one side of the host vehicle 2 are used for defining that side of the risk zone whilst the host vehicle 2 width w and an additional width d are used for defining the other side of the risk zone, as illustrated in figure 3 .
  • the means for executing a collision avoidance task are further arranged such that if the target object 10, based on its current position, velocity and acceleration, is predicted as being able to accelerate, through applying a certain predetermined maximum acceleration in the direction of its velocity, and thereby escape the risk zone before the host vehicle 2 reaches the target object in a longitudinal direction x no collision avoidance task is executed.
  • the means for estimating the position, velocity and acceleration of the target object 10 are further arranged such that if the estimated acceleration of the target object 10 lies within a first range, when attempting to stop before entering the risk zone through applying a certain predetermined maximum acceleration in a direction opposite to its velocity and a collision avoidance task is executed, the collision avoidance task of providing a warning to a driver of the host vehicle 2 is executed, and if the estimated acceleration of the target object 10 lies within a second range, when attempting to stop before entering the risk zone through applying a certain predetermined maximum acceleration in a direction opposite to its velocity and a collision avoidance task is executed, the collision avoidance task of performing autonomous braking of the host vehicle 2 is executed.
  • the present invention also relates to a method in an automotive vehicle forward collision avoidance system 1 suitable to be utilized in an automotive vehicle forward collision avoidance system 1 as described above.
  • the present invention also relates to an automotive vehicle 2 comprising an automotive vehicle forward collision avoidance system 1 as described above.

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Claims (7)

  1. Ein Kraftfahrzeugvorwärtskollisionsvermeidungssystem (1), umfassend:
    Mittel, um das Vorhandensein von einem Fußgänger (10) vor einem Fahrzeug (2) nachzuweisen, beherbergend das besagte System (1);
    Mittel, um die Position, Geschwindigkeit und Beschleunigung von dem Fußgänger (10) abzuschätzen;
    Mittel, um eine Risikozone vor dem beherbergenden Fahrzeug (2) nachzuweisen, angeordnet, um die Risikozone als eine Fläche, darstellend den vorhergesagten Umfang von dem beherbergenden Fahrzeug (2), basierend auf eine Bereite (w) und einer extra Breite (d) auf jeder Seite von dem beherbergenden Fahrzeug (2) entlang eines vorhergesagten Weg von dem beherbergenden Fahrzeug (2), nachzuweisen;
    Mittel für das Vorhersagen von dem zukünftigen Weg von dem Fußgänger (10) und dem beherbergenden Fahrzeug (2), um die seitliche Position (y) von dem Fußgänger (10) in dem Moment vorherzusagen, wenn das beherbergende Fahrzeug (2) den Fußgänger in einer länglichen Richtung (x) erreicht;
    Mittel für das Ausführen einer Kollisionsvermeidungshandlung derart angeordnet, dass:
    - wenn der Fußgänger (10), basierend auf der aktuellen Position, Geschwindigkeit und Beschleunigung von dem Fußgänger (10), vorhergesagt wird in der Lage zu sein vor dem Eintritt in die Risikozone zu stoppen durch das Anlegen einer gewissen vorbestimmten maximalen Beschleunigung für Fußgänger in eine Richtung entgegen der Geschwindigkeit von dem Fußgänger (10), wird der Fußgänger (10) vorhergesagt bei einer Position genau vor dem Eintritt in die Risikozone zu stoppen, und keine Kollisionsvermeidungshandlung ausgeführt wird;
    und;
    - wenn der Fußgänger (10), basierend auf der aktuellen Position, Geschwindigkeit und Beschleunigung von dem Fußgänger (10), vorhergesagt wird nicht in der Lage zu sein, vor dem Eintritt in die Risikozone zu stoppen, dann wird die zukünftige Position von dem Fußgänger (10) vorhergesagt, verwendend die Annahme, das der Fußgänger (10) sich weiter bewegen wird gemäß zu einem bewegungsbasierendem Beobachtungsmodell, und eine Kollisionsvermeidungshandlung ausgeführt wird, dadurch gekennzeichnet, dass
    das beherbergende Fahrzeug (2) mit einem Bahnmarkersensor für das Feststellen von Bahnmarkern ausgestattet ist, und das entweder die Fläche zwischen den festgestellten linken und rechten Bahnmarkern (11) verwendet wird, um die Risikozone zu definieren, oder, in dem Fall, das nur Bahnmarker (11) an einer Seite von dem beherbergenden Fahrzeug (2) festgestellt werden, diese festgestellten Bahnmarker (11) an einer Seite von dem beherbergenden Fahrzeug (2) verwendet werden für das Bestimmen dieser Seite von der Risikozone, während eine Breite (w) und besagte extra Breite (d) von dem beherbergenden Fahrzeug (2) für das Bestimmen der anderen Seite von der Risikozone verwendet werden.
  2. Ein System (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Mittel zum Ausführen einer Kollisionsvermeidungshandlung angeordnet sind, um zumindest eines von einer Warnung zu dem Fahrer von dem beherbergenden Fahrzeug (2) und autonomen Bremsen von dem beherbergenden Fahrzeug (2) bereitzustellen.
  3. Ein System (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Mittel für das Nachweisen von einer Risikozone vor dem beherbergenden Fahrzeug (2) angeordnet sind, um nachzuweisen, das die Risikozone eine Bogenlinie unter Verwendung der aktuellen Giergeschwindigkeit von dem beherbergenden Fahrzeug (2) berücksichtigt und dementsprechend die Risikozone zu biegen.
  4. Ein System (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Mittel für das Ausführen von einer Kollisionsvermeidungshandlung des Weiteren angeordnet sind, so dass, wenn der Fußgänger (10), basierend auf der momentanen Position, Geschwindigkeit und Beschleunigung von dem Fußgänger (10), vorhergesehen wird, in der Lage zu sein zu beschleunigen, durch das Anlegen einer gewissen vorbestimmten maximalen Beschleunigung für Fußgänger in einer Richtung der Geschwindigkeit von dem Fußgänger (10), und dadurch der Risikozone zu entfliehen, bevor das beherbergenden Fahrzeug (2) den Fußgänger (10) in einer länglichen Richtung (x) erreicht, keine Kollisionsvermeidungshandlung ausgeführt wird.
  5. Ein System (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Mittel für das Abschätzen von der Position, Geschwindigkeit und Beschleunigung von dem Fußgänger (10) des Weiteren angeordnet sind, so dass, wenn die abgeschätzte Beschleunigung von dem Fußgänger (10) innerhalb von einem ersten Bereich liegt, wenn versucht wird zu stoppen bevor in die Risikozone eingetreten wird, durch das Anlegen einer gewissen vorbestimmten maximalen Beschleunigung für Fußgänger in einer Richtung entgegen der Geschwindigkeit von dem Fußgänger (10), und eine Kollisionsvermeidungshandlung ausgeführt wird, die Kollisionsvermeidungshandlung von Bereitstellen einer Warnung zu einem Fahrer von dem beherbergenden Fahrzeug (2) durchgeführt wird, und wenn die vorhergesehene Beschleunigung von dem Fußgänger (10) innerhalb von einem zweiten Bereich liegt, wenn versucht wird zu stoppen bevor in die Risikozone eingetreten wird, durch das Anlegen einer gewissen vorbestimmten maximalen Beschleunigung für Fußgänger in einer Richtung entgegen der Geschwindigkeit von dem Fußgänger (10) und eine Kollisionsvermeidungshandlung ausgeführt wird, die Kollisionsvermeidungshandlung von Bereitstellen von autonomen Bremsen von dem beherbergenden Fahrzeug (2) ausgeführt wird.
  6. Ein Verfahren in einem Kraftfahrzeugvorwärtskollisionsvermeidungssystem, umfassend die Schritte von:
    Nachweisen von dem Vorhandensein von einem Fußgänger (10) vor einem Fahrzeug (2), besagtes System beherbergend;
    Abschätzen der Position, Geschwindigkeit und Beschleunigung von dem Fußgänger (10);
    Nachweisen von einer Risikozone vor dem beherbergenden Fahrzeug (2) als eine Fläche, darstellend den vorhergesagten Umfang von dem beherbergenden Fahrzeug (2), basierend auf einer Breite (w) und einer extra Breite (d) von dem beherbergenden Fahrzeug (2) auf jeder Seite von dem beherbergenden Fahrzeug (2) entlang von einem vorhergesagten Weg von dem beherbergenden Fahrzeug (2);
    Vorhersagen von dem zukünftigen Weg von dem Fußgänger (10) und dem beherbergenden Fahrzeug (2), um die seitliche Position von dem Fußgänger (10) zu einem Zeitpunkt herauszufinden, wenn das beherbergende Fahrzeug (2) den Fußgänger (2) in einer länglichen Richtung erreicht;
    Ausführen von einer Kollisionsvermeidungshandlung, so dass:
    - wenn der Fußgänger (10), basierend auf seiner aktuellen Position, Geschwindigkeit und Beschleunigung, vorhergesagt wird in der Lage zu sein vor dem Eintritt in die Risikozone zu stoppen durch Anwendung einer gewissen vorbestimmten maximalen Beschleunigung für Fußgänger in einer Richtung entgegen zu seiner Geschwindigkeit, wird der Fußgänger (10) vorhergesagt bei einer Position genau vor dem Eintreten der Risikozone zu stoppen und keine Kollisionsvermeidungshandlung ausgeführt wird;
    - wenn der Fußgänger (10), basierend auf seiner aktuellen Position, Geschwindigkeit und Beschleunigung vorhergesagt wird nicht in der Lage zu sein vor dem Eintritt in die Risikozone zu stoppen, dann wird die zukünftige Position von dem Fußgänger (10) vorhergesagt, verwendend die Annahme, dass der Fußgänger (10) sich weiter bewegen wird gemäß einem bewegungsbasierendem Beobachtungsmodell und eine Kollisionsvermeidungshandlung ausgeführt wird; dadurch gekennzeichnet durch des Weiteren umfassend
    Feststellen von Bahnmarkern und verwendend entweder die Fläche zwischen den festgestellten linken und rechten Bahnmarkern (11), um die Risikozone zu definieren, oder, in dem Fall, das nur Bahnmarker (11) an einer Seite von dem beherbergenden Fahrzeug (2) festgestellt werden, verwenden von diesen festgestellten Bahnmarkern (11) an einer Seite von dem beherbergenden Fahrzeug (2) für das Bestimmen der Seite von der Risikozone, während eine Breite (w) und besagte extra Breite (d) von dem beherbergenden Fahrzeug für das Bestimmen der anderen Seite von der Risikozone verwendet werden.
  7. Ein Kraftfahrzeug (2), dadurch gekennzeichnet, dass es ein Kraftfahrzeugvorwärtskollisionsvermeidungssystem (1) gemäß irgendeinem von den Ansprüchen 1 bis 5 umfasst.
EP09151294.7A 2009-01-26 2009-01-26 Verfahren und System zur Vermeidung von Frontalzusammenstößen in einem Fahrzeug Active EP2211322B1 (de)

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JPWO2014002187A1 (ja) * 2012-06-26 2016-05-26 トヨタ自動車株式会社 車両用警告装置
JP5900293B2 (ja) * 2012-11-06 2016-04-06 トヨタ自動車株式会社 衝突回避支援装置及び衝突回避支援方法
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JP6911739B2 (ja) * 2017-12-13 2021-07-28 トヨタ自動車株式会社 運転支援装置
KR102599356B1 (ko) * 2018-11-09 2023-11-07 삼성전자주식회사 주행 시스템, 이에 포함되는 자동 주행 장치 및 교차점 충돌 방지 방법
CN113386738A (zh) * 2020-03-13 2021-09-14 奥迪股份公司 风险预警系统、方法和存储介质

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