Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
  • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
  • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
  • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
  • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
  • B60Q1/22—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for reverse drive
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
  • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
  • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
  • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
  • B60Q1/247—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the close surroundings of the vehicle, e.g. to facilitate entry or exit
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
  • G01S15/50—Systems of measurement, based on relative movement of the target
  • G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
  • G01S15/523—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/87—Combinations of sonar systems
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/88—Sonar systems specially adapted for specific applications
  • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
  • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
• • 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
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
  • G01S15/06—Systems determining the position data of a target
  • G01S15/08—Systems for measuring distance only
  • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9315—Monitoring blind spots

Definitions

• the present invention relates to a vehicle having a lighting device for illuminating a vehicle environment and a detection device for detecting an object in the vehicle environment.
• the present concerns relate to a lighting device for illuminating a vehicle environment and a detection device for detecting an object in the vehicle environment.
• the invention relates to a method for operating a vehicle by illuminating a vehicle environment by a lighting device and detecting an object in the vehicle environment.
• MAN has developed an ultrasound-based approach warning system for the truck sector, which is described, for example, in the document DE 10 2006 002 232 A1.
• This system covers the front corner of the cab with about 10 sensors. However, it works only in the state and gives a warning only when falling below a previously stored reference distance when starting. Thus, this system has serious drawbacks in terms of the overall benefit, since the detection area is strongly focused on a small area adjacent to the car, and further, warning is given only when starting from a standstill. Furthermore, this system allows due to the sensor arrangement no blind spot monitoring next to the vehicle.
• a blind spot radar sensor detects a blind spot area laterally adjacent to the vehicle. This overlaps with the
• Detection range of a front radar sensor Furthermore, the document DE 296 17 413 U1 describes a monitoring device for hard or unobservable zones around motor vehicles. A sensor and a
• Warning display of the monitoring device work only in one
• Blind Spot Assist or Turn Assist typically detects obstacles laterally adjacent to the vehicle (eg, cyclists or pedestrians next to a truck stopping at a traffic light). The truck driver often can not detect these obstacles in the mirror, or only to a limited extent, in the dark. Cyclists and pedestrians are often unaware of the dangers of such a situation.
• the object of the present invention is therefore to be able to better monitor the lateral environment of a vehicle.
• a detection device for detecting an object in the vehicle environment, wherein
• the lighting device is automatically turned on when the
• Detecting device in the vehicle environment has detected an object.
• the lighting device is automatically turned on when in the
• the vehicle surroundings are preferably a blind spot area, ie a room which, despite the rear view mirror, can not be viewed by the vehicle driver. Furthermore, it may be advantageous if the lighting device is arranged on the passenger side of the vehicle. Furthermore, an assistance device can be provided in the vehicle which transmits a signal of the detection device and at least one another vehicle signal (eg for turning, starting, lane change and the like) receives, and depending on the recorded signals the
• Lighting device controls.
• the lighting device is necessarily switched on when the detection device is a moving object in the
• Lighting device upon detection of a stationary object by the
• Detection device is only turned on when the stationary object is also in an estimated by an in-vehicle computing device Fahrkorridor of the vehicle. It may also be advantageous that the lighting device is turned on automatically when a reverse gear of the vehicle is engaged and a driving lights of the vehicle is turned on.
• Fig. 1 sensor positions on the vehicle
• FIG. 2 shows a sketch of the summation of the sensor distances
• Fig. 15 is a vehicle with side lighting.
• a vehicle may be equipped with an ultrasound-based system that monitors both the front and side vehicle areas.
• the lateral environment detection should run in the entire speed range, which in addition to the turn-off assistance from the drive also a blind spot monitoring can be done.
• Sensors installed along the front of the vehicle are designed to warn of objects that are in the danger zone of the vehicle at the time of starting.
• the danger area at the front is defined by the area not visible to the driver. This usually consists of a distance of 2 m around the vehicle.
• the ultrasonic sensors are mounted on the vehicle 10 such that the detection areas 11 cover the entire area from the left front vehicle corner to the right to the rear axle.
• the vehicle 10 here represents the towing vehicle of a
• the vehicle 10 is controlled on the left, so that there is a so-called blind spot on the right side.
• the sensors are located on the left-hand side (passenger side) of the right side of the vehicle.
• sensors with a horizontal are suitable
• Opening angle (FOV) 60 °. Under these conditions, for example, twelve sensors are enough to cover the surveillance area. 1 shows the possible arrangement of the sensors and the coarse detection area 11.
• Ultrasonic sensors detect the echoes reflected back from the object in the detection area, from which the distance can be calculated depending on the speed of sound and the transit time of the transmitted signal until the echo is received.
• the reflection property of the objects determines the stability of the objects received signals and thus the constancy of the distances determined.
• a diffused object generates a weak signal that is unstable in the distance statement, which normally results in the need to increase the cycle time for distance measurement.
• the sensor signals according to FIG. 2 should be subjected to a sliding summation. It is based on the fact that an object covers several sensors and thus several sensors simultaneously provide a statement. Fig.
• FIG. 2 shows at the front of the vehicle 10 and on the passenger side of the vehicle 10 each six sensors (small box symbols), which are designated by the numbers 1 to 6.
• the sensors on the passenger side extend over almost the entire length of the vehicle 10 and in particular with their detection range to the rear axle of the vehicle.
• the sliding connection of the sensors is that their signals are summed in pairs. In particular, the signals of adjacent sensors are combined to form the sensor signals V, 2 '... 6'.
• Such a sliding summation of the sensor pitches can improve the stability of the distance output without increasing the cycle time.
• a speed-dependent range limitation is provided. Since the system is not only intended to assist in turning, but also to monitor the blind spot area, it is necessary to specify the warning areas adjacent to the vehicle.
• An ultrasonic sensor typically has an effective range of about 2.5 m. This range must be configured both for the turn / start assist and for the blind turn assist function, so that the driver is always informed, but as little as possible being bothered by a continuous audible warning.
• the addressed speed-dependent, dynamic range limitation serves this purpose. In order to give the driver as possible an optimal statement about the environment of the vehicle, for example, a three-level visual warning with the dynamic
• Possible warning areas and the function of the dynamic range limitation are shown in FIG. In the range limitation, two areas are distinguished here. Below a speed of 10 km / h (the limit can also be chosen differently) a turn-off assistant is defined here and above this speed limit a blind spot assistant. In one by one speed-dependent distance function defined first warning area I (outer detection area), for example, a yellow warning signal is output. In a second warning area II (middle detection area), for example, an orange warning signal is output, and in a third warning area III, for example, a red warning signal is output. The ranges of the individual warning ranges I to III are speed-dependent. Warning zone I reaches standstill up to a distance of 2.5 m.
• the range is only 2.0 m.
• the range of warning zone I is kept constant here.
• the ranges of the warning areas II and III decrease linearly with increasing speed independently of the speed limit, which separates the turn assistant from the blind spot assistant. The ranges of the different warning ranges can thus with
• Warning range to warning range can be implemented dynamically.
• An exemplary warning concept includes the dynamic described above
• a visual / audible warning should only in combination with an object in the danger area with a
• Range limitation is divided into two functionally separated areas. Below 10 km / h, the range of the sensors is the largest. Experience has shown that the turning process takes place in this speed range. Even the starting process - it does not matter whether the driver wants to turn or not - for the front monitoring is covered here, but the effective warning concepts for the turn-off and pure start-up process differ significantly without turning request.
• the warning concept in the state provides for a distinction between moving objects 12 and stationary objects 13 (see FIGS. 4 and 5). This is done according to the following equation by adding up all the lateral distance values.
• the sum of all detected distances (X1 to X6) is determined and stored. If only one stationary object 13 according to FIG. 4 is within the range of the sensors, the determined distance remains constant. Drives according to FIG. 5 Object 12 into the warning area, the sum of the distances X1 to X6 changes, which is to be interpreted as an indication of a moving object.
• Fig. 6 In combination of distance, direction request and approach request can be warned depending on the criticality in three stages (Fig. 6).
• the criticality increases in the direction indicated by arrow 14 direction.
• the warning level is output optically or acoustically as a function of distance, driver request and criticality.
• an integrated example in the instrument cluster segmented display 15 (vehicle symbol with
• the warning device or warning message can inform informative. This situation corresponds to the second symbolism from the top in FIG. 6. The triangle 16 lights up
• the outer segments of the segmented display 15 are yellow.
• the criticality of a situation continues to increase when the object is within range of the sensors and the distance is within warning range II (see Fig. 3), but no directional desire is indicated by the driver.
• the same criticality which requires increased attention, is achieved when the distance of the object to the vehicle is more than 2 m, but a direction change is indicated or determined.
• the middle segments of the segmented display 15 also glow orange.
• the triangle indicator 16 may also light orange, for example, and indicate an exclamation point.
• the most critical case in which there is an immediate risk of accident, is given when the object is within range of the sensors and indeed within the warning range III (see Fig. 3), a direction desire is indicated or determined and there is a start. In this case, the triangle display 16 lights up red or the segmented display 15 also shines red in its innermost area. If necessary, an additional acoustic warning signal can be reproduced.
• the red warning with acoustic signal is only issued for closer objects with a change in direction request and approach request.
• the first optical display stage is merely information that an object is in the surveillance area of the sensors.
• the actual warning is issued in the form of an optical / acoustic display.
• the warning concept can be implemented with the segmented display 15, which is already known from the example of FIG. 6, or, for example, with another triangular display 17 (possibly also with the same triangular display 16).
• a triangle on the tip is used for front monitoring.
• the used display can also be here in a
• Integrated instrument cluster Integrated instrument cluster.
• the warning levels are analogous to the example of Fig. 6, wherein the object is here in a blind spot in front of the vehicle.
• the clearances can be displayed in shunting mode - similar to the situation in the car parktronic.
• an optical / acoustic warning is issued.
• the distances can be displayed via a conventional LED display or in the instrument cluster by showing the smallest distance to the object.
• the sliding individual distances When driving, the sliding individual distances (see Fig. 2) are used. In this case, the speed-dependent distances shown in FIG. 3 are used to evaluate the criticality and trigger the optical displays.
• An audible warning is issued only when a change of direction has been detected and at the same time an object has been detected very close to the vehicle.
• Change of direction can in a simple version a set flashing signal, in an extended version the vehicle movement in the lane direction or the predicted estimated vehicle movement direction derived from the steering wheel angle and yaw rate information, or their combination.
• Another characteristic of the lateral space monitoring is the support for lane change or (re) threading in the right lane.
• FIGS. 8 and 9 Another form of the system may be that a relative position of the object relative to the vehicle is roughly determined.
• a grid is placed over the sensor detection areas.
• two resolution variants can be defined for this purpose.
• only two different lateral spacing areas A and B are defined, while in the example of FIG. 9 four different lateral spacing areas A to D are defined.
• the two (possibly also more) variants of FIG. 8 and FIG. 9 can be combined with one another depending on the determined criticality. The closer an object is, the more interesting is the position that is as exact as possible.
• an object 12 according to FIG. 10 lies in the range of the rearmost sensor, this generates a corresponding echo, which can be assigned to at least one coarse (or finer) raster depending on the distance (X6) and distance feedback from the other sensors , In the example of FIG. 10, the object 12 is assigned to the grid B7. If the object 12 continues as shown in FIG. 11, further sensors supply corresponding distance signals X4, X5 and X6. This assigns the object to additional grids B5, B6 and B7. These rasters are passed to the warning device or the warning algorithm as object positions.
• a further embodiment of the system according to the invention - in addition to the warning and the distance - may be that the determined position of the object is displayed effectively either in a low-cost LED display or in another suitable display medium.
• This may preferably be an outside mirror or a combination instrument.
• FIGS. 12 to 14 show a possible embodiment.
• the object 12 is located in the rearmost outer detection grid. This is indicated in the exterior mirror 18 in that of seven consecutively arranged LEDs 19, the last one is lit. If the object 12 according to FIG. 13 is in the last three grids, this is indicated by the LED row 19 by a lighting of the last three LEDs. If the object 12 continues to travel and is now located in the grids 3 and 4, the third and fourth LEDs in the exterior mirror 18 will light up correspondingly.
• the proximity of the object 12 to the Vehicle 10 may possibly be indicated by a characteristic warning color. With the help of the coarse object position, the previous warning concept can be refined and used purposefully.
• the system can assist in turning off both while stationary and while driving.
• Another characteristic of the system is the blind spot monitoring directly next to the vehicle in the entire speed range. This results in a certain lane change assistance when threading in the right lane.
• the system warns - as has been shown - when approaching objects that are located directly in front of the vehicle in the area not visible to the driver.
• an automatic active intervention takes place in dangerous situations, wherein in the event of imminent collision z. B. the brake is triggered or the start is inhibited until the object has moved out of the danger zone.
• the system can offer a coarse, grid-visible location of the objects, which can refine the warning concept.
• FIG. 15 shows a vehicle 10 with a plurality of sensors arranged on the right side, of which only the rearmost one is provided with the reference number 6 for the sake of clarity.
• the vehicle 10 may also be equipped with sensors on the front side, as is the case in the example of FIG. 2.
• an illumination device 20 is arranged on the passenger side on which the blind spot area is formed.
• the illumination device 20 is preferably a headlight that can illuminate the blind spot area.
• a blind spot or turn-off assistant integrated in the vehicle 10 switches on the illumination element 20.
• a cyclist can be illuminated next to the truck with the side-mounted headlights, so that the driver sees him better in the mirror.
• the illumination device 20 can be switched on and off according to similar criteria, as the warning signals of the above-described warning system are issued.
• turning on the lighting device 20 may also be controlled so that is always turned on in a moving object in the detection area, while only turned on in a stationary object in the detection area when the object (possibly with a safety margin) in a Fahrkorridor of the vehicle 10 which has been previously calculated or estimated.
• the lighting device mounted on the side of the truck or vehicle 10 can also be used for maneuvering.
• the lighting device 20 (headlight) is turned on, for example, when the reverse gear is engaged and the lighting is turned on.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Computer Networks & Wireless Communication (AREA)
• Acoustics & Sound (AREA)
• Human Computer Interaction (AREA)
• Traffic Control Systems (AREA)

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Publications (1)

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Citations (6)

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• 2009
  • 2009-09-15 DE DE102009041557A patent/DE102009041557A1/de not_active Withdrawn
• 2010
  • 2010-09-02 US US13/496,051 patent/US8768566B2/en not_active Expired - Fee Related
  • 2010-09-02 WO PCT/EP2010/005397 patent/WO2011032646A1/de not_active Ceased
  • 2010-09-02 JP JP2012529139A patent/JP5762416B2/ja not_active Expired - Fee Related
  • 2010-09-02 CN CN2010800410650A patent/CN102498413A/zh active Pending
  • 2010-09-02 EP EP10751576A patent/EP2478388A1/de not_active Withdrawn

Patent Citations (6)

Non-Patent Citations (1)

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