EP2489026A1 - Method for determining at least one area in which a vehicle can drive in the surroundings of a motor vehicle - Google Patents

Method for determining at least one area in which a vehicle can drive in the surroundings of a motor vehicle

Info

Publication number
EP2489026A1
EP2489026A1 EP10752753A EP10752753A EP2489026A1 EP 2489026 A1 EP2489026 A1 EP 2489026A1 EP 10752753 A EP10752753 A EP 10752753A EP 10752753 A EP10752753 A EP 10752753A EP 2489026 A1 EP2489026 A1 EP 2489026A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
detection sensor
object detection
vehicle
driver assistance
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Withdrawn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
EP10752753A
Other languages
German (de)
French (fr)
Inventor
Jorge Sans Sangorrin
Jan Sparbert
Paul-Sebastian Lauer
Wolfgang Branz
Andreas Simon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2489026A1 publication Critical patent/EP2489026A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • 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
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • 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
    • G01S2013/9318—Controlling the steering
    • 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
    • G01S2013/93185—Controlling the brakes

Definitions

  • the invention relates to a method for determining at least one passable area in the environment of a motor vehicle that is particularly relevant for the vehicle guidance.
  • the invention also relates to a method for collision avoidance for a motor vehicle.
  • the invention relates to a computer program, a computer program product and a device for carrying out such methods.
  • the perception of the environment is becoming increasingly important for driver assistance systems.
  • radar sensors, lidar sensors, ultrasonic sensors or camera systems are used.
  • the sensor data are analyzed and interpreted by downstream algorithms.
  • the result of the interpretation is then transmitted to the driver assistance systems, which then initiate the corresponding actions on the vehicle.
  • DE 10 2004 056 120 A1 relates to a method for collision avoidance or collision sequence reduction during a journey, in which a motor vehicle approaches an obstacle, in particular a vehicle in front.
  • DE 10 2005 026 386 A1 discloses a method and a device for
  • the ascertained trafficability data can then be made available to driver assistance systems which, by means of an avoidance trajectory, are capable of automatically avoiding obstacles. Additional information about drivable areas or areas is obtained by a simple situation interpretation based on object data. It is important, however, that the at least one detected object is not in an accident situation or the like.
  • the method according to the invention can also be advantageously carried out with an already existing sensor, in particular long-range sensor.
  • Radar sensor are used, for example, abstracts the environment description by so-called object lists or location lists.
  • the at least one passable area can be determined.
  • At least one environment perception sensor is capable of detecting occupied areas or areas within its detection area, and ideally also based thereon, indicating the probability with which these areas are occupied.
  • a radar sensor, a lidar sensor or a video sensor may be considered as an object-recognizing sensor that draws conclusions about drivable surfaces from the temporal movement of detected objects. The investigation and interpretation of occupancy information at the current time and from the past, d. H. Where the currently detected objects were located (so-called object history), the determination makes it possible to determine whether a surface is drivable or not. The following methods can be used for this.
  • a retrodiction of the occupancy information of the at least one object detection sensor of the motor vehicle can be carried out via the at least one detected object for a predefined time interval.
  • the length of the predetermined time interval should be selected such that the accuracy in the speed and possibly in the acceleration information is sufficiently high.
  • an interpolation of the occupancy information of the at least one object detection sensor of the motor vehicle via the at least one detected object can be carried out continuously or successively in cycles.
  • Claim 6 specifies a method for collision avoidance for a motor vehicle.
  • Claim 9 relates to a device, in particular driver assistance system of a motor vehicle, for carrying out the method according to the invention.
  • the method according to the invention for determining at least one passable area in the surroundings of a motor vehicle relevant for the vehicle guidance or the method according to the invention for collision avoidance for a motor vehicle is preferably realized as a computer program on a control device of a driver assistance system of a motor vehicle, other solutions being taken for granted Question come.
  • the computer program is stored in a memory element of the control device.
  • the computer program can be stored on a computer-readable data medium (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and can be transferred from there into the memory element of the control device.
  • Figure 1 is a schematic representation to illustrate the method according to the invention in a first embodiment
  • Figure 2 is a schematic representation to illustrate the method according to the invention in a second embodiment.
  • FIG. 1 shows a motor vehicle 1 on which the method according to the invention for determining at least one drivable region 2 in the environment of the motor vehicle 1 relevant to the vehicle guidance, in particular for determining an avoidance trajectory (not illustrated), is implemented.
  • This can, in the context of a method for collision avoidance for the motor vehicle 1, in which at an approaching while driving, located in an occupied area 2b, object or obstacle 3, a driving maneuver of Motor vehicle 1 is performed or proposed to evade autonomously or semi-autonomously.
  • the driving maneuver is based on a collision-avoiding avoidance trajectory, which is determined taking into account passable areas 2a detected by means of the method for determining passable areas 2a in the surroundings of the motor vehicle 1.
  • a device designed as a driver assistance system 4 for carrying out the method according to the invention can assist the driver in avoiding obstacles 3 and guide him autonomously or semi-autonomously in the event of an imminent collision to a safe trajectory that does not collide with any obstacle 3 surrounding the own motor vehicle 1.
  • the motor vehicle 1 or the driver assistance system 4 has as an environment-capturing sensor or object detection sensor a radar sensor 5, in particular a long-range radar sensor for measuring the traffic situation or the environment in front of the motor vehicle 1.
  • the object detection sensor could also be designed as a lidar sensor or the like.
  • other sensor types can be used. With the appropriate changes, both multiple sensors and combinations of different sensors can be used.
  • the passable and occupied can be Areas 2a, 2b or surfaces in the vicinity of the motor vehicle 1 in a very advantageous manner more accurately and completely determine.
  • Detection cone 7 of the radar sensor 5 are indicated by dashed lines in Figures 1 and 2.
  • an environmental sensor system for detecting the traffic situation behind the motor vehicle 1 could also be provided.
  • the radar sensor 5 or the video sensor 6 is connected to a control device 4a of the driver assistance system 4 in connection, which also has an evaluation module not shown in detail. With the control device 4a, objects or obstacles 3 can be detected on the basis of the sensor signals of the radar sensor 5.
  • the method for collision avoidance for the motor vehicle 1 now runs on the control device 4a, in which a driving maneuver of the motor vehicle 1 for avoidance is autonomous or semi-autonomous or via a warning device to the driver or other vehicle systems is proposed.
  • the driving maneuver is based on a avoidance avoidance trajectory avoiding collision, which is determined taking into account passable areas 2a determined by means of the method according to the invention for determining at least one passable area 2a in the surroundings of the motor vehicle 1.
  • a avoidance avoidance trajectory avoiding collision which is determined taking into account passable areas 2a determined by means of the method according to the invention for determining at least one passable area 2a in the surroundings of the motor vehicle 1.
  • the at least one passable area 2a is determined.
  • a retrodiction of the occupancy information of the at least one object detection sensor 5, 6 of the motor vehicle 1 is carried out via the at least one detected object 3 for a predefined time interval ⁇ t.
  • At denotes the time interval between the above-mentioned times k-1 and k.
  • dx k denotes the measured distance in the longitudinal direction at the current time k.
  • the traveled surface or the drivable region 2a on the basis of - detected for example by the video sensor 6 - width of the detected object 3 and the distance in the longitudinal direction to the past time k-1, which is the product of the predetermined time interval At and the current Speed of the object 3 in the longitudinal direction vx k results, so to speak to be predicted.
  • retrodiction is meant the prediction of a past but unknown state.
  • the length of the predetermined time interval At is selected such that a sufficiently high accuracy in the speed information or in the acceleration information on the at least one detected object 3 is achieved.
  • FIG. 2 shows an alternative or additionally usable embodiment of the method according to the invention.
  • like reference numerals refer to functionally identical elements.
  • an interpolation of the occupancy information of the at least one object detection sensor 5, 6 of the motor vehicle 1 via the at least one detected object 3 can be carried out continuously or successively in cycles.
  • the traveled surface or the drivable region 2a can be determined on the basis of the width of the detected object 3 detected, for example, by the video sensor 6, and the continuously interpolated distance dx k- i in the longitudinal direction at the time instant k-1.
  • the method according to the invention for determining at least one passable region 2a in the environment 2 of the motor vehicle 1 which is relevant in particular for the vehicle guidance or the method according to the invention for collision avoidance for the motor vehicle 1 is preferably as a computer program on the control device 4a of a driver assistance system 4 of the motor vehicle 1, realized, with other solutions of course come into question.
  • the computer program is stored in a memory element, not shown, of the control device 4a.
  • the computer program may be stored on a computer-readable data carrier (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and transmitted from there into the memory element of the control device 4a.

Abstract

The invention relates to a method for determining at least one area (2a) in which a vehicle can drive in the surroundings of a motor vehicle (1), in particular those relevant to the vehicle guidance, in particular for identifying an evasion trajectory for a driver assistance system (4) of the motor vehicle (1), the motor vehicle (1) having at least one object detection sensor (5, 6) for detecting objects or obstacles (3) in the surroundings of the motor vehicle (1). The course of time of occupancy information from the at least one object detection sensor (5, 6) of the motor vehicle (1) relating to at least one detected object (3) is taken into account.

Description

Beschreibung  description
Titel title
VERFAHREN ZUR BESTIMMUNG WENIGSTENS EINES BEFAHRBAREN BEREICHS IN DER UMGEBUNG EINES KRAFTFAHRZEUGS  METHOD FOR DETERMINING AT LEAST ONE HANDLING AREA IN THE ENVIRONMENT OF A MOTOR VEHICLE
Stand der Technik State of the art
Die Erfindung betrifft ein Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs. Die Erfindung betrifft ebenfalls ein Verfahren zur Kollisionsvermeidung für ein Kraftfahrzeug. Des Weiteren betrifft die Erfindung ein Computerprogramm, ein Computerprogrammprodukt und eine Vorrichtung, um derartige Verfahren auszuführen bzw. durchzuführen. The invention relates to a method for determining at least one passable area in the environment of a motor vehicle that is particularly relevant for the vehicle guidance. The invention also relates to a method for collision avoidance for a motor vehicle. Furthermore, the invention relates to a computer program, a computer program product and a device for carrying out such methods.
Die Umfeldwahrnehmung gewinnt für Fahrerassistenzsysteme zunehmend an Bedeutung. Zum Einsatz kommen dabei beispielsweise Radarsensoren, Lidar- sensoren, Ultraschallsensoren oder Kamerasysteme. Die Sensordaten werden durch nachgeschaltete Algorithmen analysiert und interpretiert. Das Ergebnis der Interpretation wird dann an die Fahrerassistenzsysteme übermittelt, die daraufhin die entsprechenden Aktionen am Fahrzeug einleiten. The perception of the environment is becoming increasingly important for driver assistance systems. For example, radar sensors, lidar sensors, ultrasonic sensors or camera systems are used. The sensor data are analyzed and interpreted by downstream algorithms. The result of the interpretation is then transmitted to the driver assistance systems, which then initiate the corresponding actions on the vehicle.
Für Fahrerassistenzsysteme, die automatisiert von Hindernissen ausweichen (z. B. unter Berücksichtigung einer zuvor ermittelten Ausweichtrajektorie), ist jedoch auch die Befahrbarkeit von Gebieten relevant. Diese Information kann mittels eines Sensors ermittelt werden, der Daten explizit aus der Ebene in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs, liefert. Wenn der Sensor Ortungen oder Objekte in der Fahrzeugumgebung erfasst, sind Gebiete in denen keine Objekte detektiert wurden, grundsätzlich nicht notwendigerweise befahrbar, vielmehr besteht im Allgemeinen in diesen Gebieten bzw. Bereichen kein explizites Wissen über die Befahrbarkeit. Die DE 10 2004 056 120 A1 betrifft ein Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung während einer Fahrt, bei der sich ein Kraftfahrzeug einem Hindernis, insbesondere einem vorausfahrenden Fahrzeug, nähert. In der DE 10 2005 026 386 A1 sind ein Verfahren und eine Vorrichtung zumHowever, for driver assistance systems that automatically avoid obstacles (eg taking into account a previously determined avoidance trajectory), the passability of areas is also relevant. This information can be determined by means of a sensor which supplies data explicitly from the plane in the surroundings of a motor vehicle, which are particularly relevant for the vehicle guidance. In principle, if the sensor detects localizations or objects in the vehicle environment, areas in which no objects were detected are not necessarily passable, but in general there is no explicit knowledge about the trafficability in these areas or areas. DE 10 2004 056 120 A1 relates to a method for collision avoidance or collision sequence reduction during a journey, in which a motor vehicle approaches an obstacle, in particular a vehicle in front. DE 10 2005 026 386 A1 discloses a method and a device for
Bestimmen von Freiflächen in der Umgebung eines Fahrzeugs beschrieben. Determining free spaces in the environment of a vehicle described.
Offenbarung der Erfindung Das erfindungsgemäße Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs, insbesondere zur Ermittlung einer Ausweichtrajektorie für ein Fahrerassistenzsystem des Kraftfahrzeugs, wobei das Kraftfahrzeug wenigstens einen Objektdetektionssensor zur Erfassung von Objekten bzw. Hindernis- sen in der Umgebung des Kraftfahrzeugs aufweist, wobei der zeitliche Verlauf von Belegungsinformationen des wenigstens einen Objektdetektionssensors des Kraftfahrzeugs über wenigstens ein erfasstes Objekt berücksichtigt wird, hat den Vorteil, dass in einfacher Weise Informationen über die Befahrbarkeit von Gebieten der Fahrzeugumgebung aus dem zeitlichen Verlauf von Objektdetektionen abgeleitet werden können, d. h. die Befahrbarkeitsinformation wird aus den aktuellen und den vergangenen Objektdetektionen sozusagen geschätzt. Der zeitliche Verlauf der Objektinformationen wird untersucht und interpretiert. Die ermittelten Befahrbarkeitsdaten können anschließend Fahrerassistenzsystemen zur Verfügung gestellt werden, die mittels einer Ausweichtrajektorie in der Lage sind, automatisiert vor Hindernissen ausweichen. Es werden zusätzliche Informationen über befahrbare Flächen oder Bereiche durch eine einfache Situationsinterpretation basierend auf Objektdaten gewonnen. Wichtig ist dabei jedoch, dass sich das wenigstens eine erfasste Objekt nicht in einer Unfallsituation oder dergleichen befindet. Das erfindungsgemäße Verfahren kann in vorteilhafter Weise auch mit einem bereits existierenden Sensor, insbesondere Long-Range-DISCLOSURE OF THE INVENTION The method according to the invention for determining at least one passable area in the surroundings of a motor vehicle relevant in particular for the vehicle guidance, in particular for determining an evasion trajectory for a driver assistance system of the motor vehicle, wherein the motor vehicle has at least one object detection sensor for detecting objects or obstacles having in the environment of the motor vehicle, wherein the temporal course of occupancy information of the at least one object detection sensor of the motor vehicle is taken into account via at least one detected object, has the advantage that derived in a simple manner information about the passability of areas of the vehicle environment from the time course of object detections can be, d. H. the trafficability information is estimated from the current and past object detections, so to speak. The temporal course of the object information is examined and interpreted. The ascertained trafficability data can then be made available to driver assistance systems which, by means of an avoidance trajectory, are capable of automatically avoiding obstacles. Additional information about drivable areas or areas is obtained by a simple situation interpretation based on object data. It is important, however, that the at least one detected object is not in an accident situation or the like. The method according to the invention can also be advantageously carried out with an already existing sensor, in particular long-range sensor.
Radarsensor eingesetzt werden, der beispielsweise die Umfeldbeschreibung durch sogenannte Objektlisten oder Ortungslisten abstrahiert. Radar sensor are used, for example, abstracts the environment description by so-called object lists or location lists.
Durch eine Untersuchung und Interpretation der Belegungsinformation des we- nigstens einen Objektdetektionssensors des Kraftfahrzeugs über das wenigstens eine erfasste Objekt zu einem aktuellen Zeitpunkt und zu wenigstens einem ver- gangenen Zeitpunkt kann der wenigstens eine befahrbare Bereich bestimmt werden. By examining and interpreting the occupancy information of at least one object detection sensor of the motor vehicle about the at least one detected object at a current time and at least one past time, the at least one passable area can be determined.
Mindestens ein Sensor zur Umfeldwahrnehmung ist in der Lage, innerhalb seines Detektionsbereichs belegte Gebiete oder Bereiche zu detektieren und idealerweise auch darauf basierend die Wahrscheinlichkeit anzugeben, mit der diese Gebiete belegt sind. Als objekterkennender Sensor, der Rückschlüsse auf befahrbare Flächen aus der zeitlichen Bewegung erkannter Objekte zieht, kommt beispielsweise ein Radarsensor, ein Lidarsensor oder ein Videosensor in Frage. Die Untersuchung und Interpretation der Belegungsinformation zum aktuellen Zeitpunkt und aus der Vergangenheit, d. h. wo sich die aktuell detektierten Objekte befunden haben (sogenannte Objekthistorie), ermöglicht die Bestimmung, ob eine Fläche befahrbar ist oder nicht. Dazu können die folgenden Methoden eingesetzt werden. At least one environment perception sensor is capable of detecting occupied areas or areas within its detection area, and ideally also based thereon, indicating the probability with which these areas are occupied. For example, a radar sensor, a lidar sensor or a video sensor may be considered as an object-recognizing sensor that draws conclusions about drivable surfaces from the temporal movement of detected objects. The investigation and interpretation of occupancy information at the current time and from the past, d. H. Where the currently detected objects were located (so-called object history), the determination makes it possible to determine whether a surface is drivable or not. The following methods can be used for this.
Zum Einen kann eine Retrodiktion der Belegungsinformationen des wenigstens einen Objektdetektionssensors des Kraftfahrzeugs über das wenigstens eine er- fasste Objekt für ein vorgegebenes Zeitintervall vorgenommen werden. Dabei sollte die Länge des vorgegebenen Zeitintervalls derart gewählt werden, dass die Genauigkeit in der Geschwindigkeits- und ggf. in der Beschleunigungsinformation hinreichend hoch ist. On the one hand, a retrodiction of the occupancy information of the at least one object detection sensor of the motor vehicle can be carried out via the at least one detected object for a predefined time interval. The length of the predetermined time interval should be selected such that the accuracy in the speed and possibly in the acceleration information is sufficiently high.
Alternativ oder zusätzlich kann eine Interpolation der Belegungsinformationen des wenigstens einen Objektdetektionssensors des Kraftfahrzeugs über das wenigstens eine erfasste Objekt fortlaufend bzw. sukzessive in Zyklen vorgenommen werden. Alternatively or additionally, an interpolation of the occupancy information of the at least one object detection sensor of the motor vehicle via the at least one detected object can be carried out continuously or successively in cycles.
In Anspruch 6 ist ein Verfahren zur Kollisionsvermeidung für ein Kraftfahrzeug angegeben. Claim 6 specifies a method for collision avoidance for a motor vehicle.
Ein Computerprogramm mit Programmcodemitteln bzw. ein Computerprogrammprodukt mit Programmcodemitteln, die auf einem computerlesbaren Datenträger gespeichert sind, um die erfindungsgemäßen Verfahren auszuführen, sind in Anspruch 7 bzw. Anspruch 8 angegeben. Anspruch 9 betrifft eine Vorrichtung, insbesondere Fahrerassistenzsystem eines Kraftfahrzeugs, zur Durchführung der erfindungsgemäßen Verfahren. A computer program with program code means or a computer program product with program code means which are stored on a computer-readable data medium to carry out the methods according to the invention are specified in claims 7 and 8, respectively. Claim 9 relates to a device, in particular driver assistance system of a motor vehicle, for carrying out the method according to the invention.
Das erfindungsgemäße Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs bzw. das erfindungsgemäße Verfahren zur Kollisionsvermeidung für ein Kraftfahrzeug, ist vorzugsweise als Computerprogramm auf einer Steuereinrichtung eines Fahrerassistenzsystems eines Kraftfahrzeugs realisiert, wobei auch andere Lösungen selbstverständlich in Frage kommen. Dazu ist das Computerprogramm in einem Speicherelement der Steuereinrichtung gespeichert. Durch Abarbeitung auf einem Mikroprozessor der Steuereinrichtung wird das Verfahren ausgeführt. Das Computerprogramm kann auf einem computerlesbaren Datenträger (Diskette, CD, DVD, Festplatte, USB-Memory Stick, Speicherkarte oder dergleichen) oder einem Internetserver als Computerprogrammprodukt gespeichert sein und von dort aus in das Speicherelement der Steuereinrichtung übertragen werden. The method according to the invention for determining at least one passable area in the surroundings of a motor vehicle relevant for the vehicle guidance or the method according to the invention for collision avoidance for a motor vehicle is preferably realized as a computer program on a control device of a driver assistance system of a motor vehicle, other solutions being taken for granted Question come. For this purpose, the computer program is stored in a memory element of the control device. By processing on a microprocessor of the control device, the method is carried out. The computer program can be stored on a computer-readable data medium (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and can be transferred from there into the memory element of the control device.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen. Nachfolgend sind anhand der Zeichnung Ausführungsbeispiele der Erfindung prinzipmäßig beschrieben. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims. Hereinafter, embodiments of the invention will be described in principle with reference to the drawing.
Es zeigen: Show it:
Figur 1 eine schematische Darstellung zur Verdeutlichung des erfindungsgemäßen Verfahrens in einer ersten Ausführungsform; und Figure 1 is a schematic representation to illustrate the method according to the invention in a first embodiment; and
Figur 2 eine schematische Darstellung zur Verdeutlichung des erfindungsgemäßen Verfahrens in einer zweiten Ausführungsform. Figure 2 is a schematic representation to illustrate the method according to the invention in a second embodiment.
In Figur 1 ist ein Kraftfahrzeug 1 dargestellt, auf welchem das erfindungsgemäße Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs 2 in der für die Fahrzeugführung relevanten Umgebung des Kraftfahrzeugs 1 , insbesondere zur Ermittlung einer Ausweichtrajektorie (nicht dargestellt), implementiert ist. Dieses kann im Rahmen eines Verfahrens zur Kollisionsvermeidung für das Kraftfahrzeug 1 , bei welchem bei einem sich während der Fahrt nähernden, in einem belegten Bereich 2b befindlichen, Objekt bzw. Hindernis 3 ein Fahrmanöver des Kraftfahrzeugs 1 zum Ausweichen autonom oder semiautonom durchgeführt oder vorgeschlagen wird, ausgeführt werden. Das Fahrmanöver basiert auf einer kollisionsvermeidenden Ausweichtrajektorie, welche unter Berücksichtigung von mittels des Verfahrens zur Bestimmung von befahrbaren Bereichen 2a in der Umgebung des Kraftfahrzeugs 1 erfassten befahrbaren Bereichen 2a ermittelt wird. Darauf basierend kann eine als Fahrerassistenzsystem 4 ausgebildete Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens den Fahrer beim Ausweichen vor Hindernissen 3 unterstützen und ihn autonom oder semiautonom im Fall einer bevorstehenden Kollision auf eine sichere Trajektorie führen, die mit keinem das eigene Kraftfahrzeug 1 umgebenden Hindernis 3 kollidiert.FIG. 1 shows a motor vehicle 1 on which the method according to the invention for determining at least one drivable region 2 in the environment of the motor vehicle 1 relevant to the vehicle guidance, in particular for determining an avoidance trajectory (not illustrated), is implemented. This can, in the context of a method for collision avoidance for the motor vehicle 1, in which at an approaching while driving, located in an occupied area 2b, object or obstacle 3, a driving maneuver of Motor vehicle 1 is performed or proposed to evade autonomously or semi-autonomously. The driving maneuver is based on a collision-avoiding avoidance trajectory, which is determined taking into account passable areas 2a detected by means of the method for determining passable areas 2a in the surroundings of the motor vehicle 1. Based on this, a device designed as a driver assistance system 4 for carrying out the method according to the invention can assist the driver in avoiding obstacles 3 and guide him autonomously or semi-autonomously in the event of an imminent collision to a safe trajectory that does not collide with any obstacle 3 surrounding the own motor vehicle 1.
Dies kann zum einen durch Anzeige einer entsprechenden Warnung oder zum anderen durch einen aktiven Eingriff des Fahrerassistenzsystems 4 mittels eines korrigierenden Bremseingriffs über eine gezielte Bremskrafterhöhung oder mittels eines entsprechenden Lenkeingriffs über ein nicht dargestelltes Lenksystem des Kraftfahrzeugs 1 , erfolgen. This can take place, on the one hand, by displaying a corresponding warning or, on the other hand, by active intervention of the driver assistance system 4 by means of a corrective braking intervention via a targeted increase in braking force or by means of a corresponding steering intervention via a steering system, not shown, of the motor vehicle 1.
Das Kraftfahrzeug 1 bzw. das Fahrerassistenzsystem 4 weist als umgebungser- fassende Sensorik bzw. Objektdetektionssensor einen Radarsensor 5, insbesondere Long-Range-Radarsensor zur messtechnischen Erfassung der Verkehrssi- tuation bzw. des Umfelds vor dem Kraftfahrzeug 1 auf. In einem anderen Ausführungsbeispiel könnte der Objektdetektionssensor auch als Lidarsensor oder dergleichen ausgebildet sein. Selbstverständlich können auch weitere Sensortypen verwendet werden. Mit den entsprechenden Änderungen sind sowohl mehrere Sensoren als auch Kombinationen unterschiedlicher Sensoren einsetzbar. The motor vehicle 1 or the driver assistance system 4 has as an environment-capturing sensor or object detection sensor a radar sensor 5, in particular a long-range radar sensor for measuring the traffic situation or the environment in front of the motor vehicle 1. In another embodiment, the object detection sensor could also be designed as a lidar sensor or the like. Of course, other sensor types can be used. With the appropriate changes, both multiple sensors and combinations of different sensors can be used.
Durch Fusion mit Sensoren, die auch Informationen über die Objektausdehnung bzw. die Breite (siehe Figuren 1 und 2) liefern, wie etwa einem zusätzlich vorgesehenen Videosensor 6 (z. B. CMOS- oder CCD-Sensor), lassen sich die befahrbaren und belegten Bereiche 2a, 2b bzw. Flächen im Umfeld des Kraftfahr- zeugs 1 in sehr vorteilhafter Weise genauer und vollständiger bestimmen. By merging with sensors that also provide information about the object extent or width (see Figures 1 and 2), such as an additionally provided video sensor 6 (eg CMOS or CCD sensor), the passable and occupied can be Areas 2a, 2b or surfaces in the vicinity of the motor vehicle 1 in a very advantageous manner more accurately and completely determine.
Erfassungskegel 7 des Radarsensors 5 sind in den Figuren 1 und 2 gestrichelt angedeutet. In weiteren nicht dargestellten Ausführungsbeispielen könnte auch eine Umgebungssensorik zur Erfassung der Verkehrssituation hinter dem Kraft- fahrzeug 1 vorgesehen sein. Der Radarsensor 5 bzw. der Videosensor 6 steht mit einer Steuereinrichtung 4a des Fahrerassistenzsystems 4 in Verbindung, welche auch ein nicht näher dargestelltes Auswertemodul aufweist. Mit der Steuereinrichtung 4a können aufgrund der Sensorsignale des Radarsensors 5 Objekte bzw. Hindernisse 3, er- fasst werden. Im Rahmen des Fahrerassistenzsystems 4 läuft nun auf der Steuereinrichtung 4a das Verfahren zur Kollisionsvermeidung für das Kraftfahrzeug 1 ab, bei welchem bei einem sich während der Fahrt nähernden Hindernis 3 ein Fahrmanöver des Kraftfahrzeugs 1 zum Ausweichen autonom oder semiautonom durchgeführt oder über eine Warneinrichtung dem Fahrer oder weiteren Fahr- zeugsystemen vorgeschlagen wird. Das Fahrmanöver basiert auf einer kollisi- onsvermeidenden Ausweichtrajektorie, welche unter Berücksichtigung von mittels des erfindungsgemäßen Verfahrens zur Bestimmung wenigstens eines befahrbaren Bereichs 2a in der Umgebung des Kraftfahrzeugs 1 bestimmten befahrbaren Bereichen 2a ermittelt wird. Dabei wird der zeitliche Verlauf von Bele- gungsinformationen des wenigstens einen Objektdetektionssensors 5, 6 desDetection cone 7 of the radar sensor 5 are indicated by dashed lines in Figures 1 and 2. In other embodiments, not shown, an environmental sensor system for detecting the traffic situation behind the motor vehicle 1 could also be provided. The radar sensor 5 or the video sensor 6 is connected to a control device 4a of the driver assistance system 4 in connection, which also has an evaluation module not shown in detail. With the control device 4a, objects or obstacles 3 can be detected on the basis of the sensor signals of the radar sensor 5. In the context of the driver assistance system 4, the method for collision avoidance for the motor vehicle 1 now runs on the control device 4a, in which a driving maneuver of the motor vehicle 1 for avoidance is autonomous or semi-autonomous or via a warning device to the driver or other vehicle systems is proposed. The driving maneuver is based on a avoidance avoidance trajectory avoiding collision, which is determined taking into account passable areas 2a determined by means of the method according to the invention for determining at least one passable area 2a in the surroundings of the motor vehicle 1. In this case, the time profile of occupancy information of the at least one object detection sensor 5, 6 of the
Kraftfahrzeugs 1 über das erfasste Objekt 3 berücksichtigt. Motor vehicle 1 taken over the detected object 3.
Durch eine Untersuchung und Interpretation der Belegungsinformation des wenigstens einen Objektdetektionssensors 5, 6 des Kraftfahrzeugs 1 über das we- nigstens eine erfasste Objekt 3 zu einem aktuellen Zeitpunkt k und zu wenigstens einem vergangenen Zeitpunkt k-1 wird der wenigstens eine befahrbare Bereich 2a bestimmt. By examining and interpreting the occupancy information of the at least one object detection sensor 5, 6 of the motor vehicle 1 about the at least one detected object 3 at a current time k and at least one past time k-1, the at least one passable area 2a is determined.
Wie aus Figur 1 ersichtlich, wird eine Retrodiktion der Belegungsinformationen des wenigstens einen Objektdetektionssensors 5, 6 des Kraftfahrzeugs 1 über das wenigstens eine erfasste Objekt 3 für ein vorgegebenes Zeitintervall At vorgenommen. Dabei bezeichnet At das Zeitintervall zwischen den vorstehend erwähnten Zeitpunkten k-1 und k. dxk bezeichnet den gemessenen Abstand in Längsrichtung zum aktuellen Zeitpunkt k. Nun kann die überfahrene Fläche bzw. der befahrbare Bereich 2a anhand der - beispielsweise von dem Videosensor 6 erfassten - Breite des erfassten Objekts 3 und dem Abstand in Längsrichtung zum vergangenen Zeitpunkt k-1 , welcher sich aus dem Produkt des vorgegebenen Zeitintervalls At und der aktuellen Geschwindigkeit des Objekts 3 in Längsrichtung vxk ergibt, sozusagen vorhergesagt werden. Unter Retrodiktion wird vor- liegend die Vorhersage eines vergangenen aber unbekannten Zustande verstanden. Die Länge des vorgegebenen Zeitintervalls At wird derart gewählt, dass eine hinreichend hohe Genauigkeit in der Geschwindigkeitsinformation bzw. in der Beschleunigungsinformation über das wenigstens eine erfasste Objekt 3 erreicht wird. As can be seen from FIG. 1, a retrodiction of the occupancy information of the at least one object detection sensor 5, 6 of the motor vehicle 1 is carried out via the at least one detected object 3 for a predefined time interval Δt. Here, At denotes the time interval between the above-mentioned times k-1 and k. dx k denotes the measured distance in the longitudinal direction at the current time k. Now, the traveled surface or the drivable region 2a on the basis of - detected for example by the video sensor 6 - width of the detected object 3 and the distance in the longitudinal direction to the past time k-1, which is the product of the predetermined time interval At and the current Speed of the object 3 in the longitudinal direction vx k results, so to speak to be predicted. By retrodiction is meant the prediction of a past but unknown state. The length of the predetermined time interval At is selected such that a sufficiently high accuracy in the speed information or in the acceleration information on the at least one detected object 3 is achieved.
In Figur 2 ist eine alternativ oder zusätzlich einsetzbare Ausführungsform des erfindungsgemäßen Verfahrens gezeigt. In den Figuren 1 und 2 beziehen sich gleiche Bezugszeichen auf funktionsgleiche Elemente. Sonach kann auch eine Interpolation der Belegungsinformationen des wenigstens einen Objektdetektions- sensors 5, 6 des Kraftfahrzeugs 1 über das wenigstens eine erfasste Objekt 3 fortlaufend bzw. sukzessive in Zyklen vorgenommen werden. Dabei kann die überfahrene Fläche bzw. der befahrbare Bereich 2a anhand der - beispielsweise von dem Videosensor 6 erfassten - Breite des erfassten Objekts 3 und dem fortlaufend interpolierten Abstand dxk-i in Längsrichtung zum vergangenen Zeitpunkt k-1 bestimmt werden. FIG. 2 shows an alternative or additionally usable embodiment of the method according to the invention. In Figures 1 and 2, like reference numerals refer to functionally identical elements. Accordingly, an interpolation of the occupancy information of the at least one object detection sensor 5, 6 of the motor vehicle 1 via the at least one detected object 3 can be carried out continuously or successively in cycles. In this case, the traveled surface or the drivable region 2a can be determined on the basis of the width of the detected object 3 detected, for example, by the video sensor 6, and the continuously interpolated distance dx k- i in the longitudinal direction at the time instant k-1.
Das erfindungsgemäße Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs 2a in der, insbesondere für die Fahrzeugführung relevanten Umgebung 2 des Kraftfahrzeugs 1 bzw. das erfindungsgemäße Verfahren zur Kollisionsvermeidung für das Kraftfahrzeug 1 , ist vorzugsweise als Computerprogramm auf des Steuereinrichtung 4a eines Fahrerassistenzsystems 4 des Kraftfahrzeugs 1 , realisiert, wobei auch andere Lösungen selbstverständlich in Frage kommen. Dazu ist das Computerprogramm in einem nicht dargestellten Speicherelement der Steuereinrichtung 4a gespeichert. Durch Abarbeitung auf einem ebenfalls nicht dargestellten Mikroprozessor der Steuereinrichtung 4a wird das Verfahren ausgeführt. Das Computerprogramm kann auf einem computerlesbaren Datenträger (Diskette, CD, DVD, Festplatte, USB-Memory Stick, Speicherkarte oder dergleichen) oder einem Internetserver als Computerprogrammprodukt gespeichert sein und von dort aus in das Speicherelement der Steuereinrichtung 4a übertragen werden. The method according to the invention for determining at least one passable region 2a in the environment 2 of the motor vehicle 1 which is relevant in particular for the vehicle guidance or the method according to the invention for collision avoidance for the motor vehicle 1 is preferably as a computer program on the control device 4a of a driver assistance system 4 of the motor vehicle 1, realized, with other solutions of course come into question. For this purpose, the computer program is stored in a memory element, not shown, of the control device 4a. By processing on a likewise not shown microprocessor of the control device 4a, the method is executed. The computer program may be stored on a computer-readable data carrier (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and transmitted from there into the memory element of the control device 4a.

Claims

Ansprüche claims
1 . Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs (2a) in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs (1 ), insbesondere zur Ermittlung einer Ausweichtrajektorie für ein Fahrerassistenzsystem (4) des Kraftfahrzeugs (1 ), wobei das Kraftfahrzeug (1 ) wenigstens einen Objektdetektionssensor (5,6) zur Erfassung von Objekten bzw. Hindernissen (3) in der Umgebung des Kraftfahrzeugs (1 ) aufweist, dadurch gekennzeichnet, dass der zeitliche Verlauf von Belegungsinformationen des wenigstens einen Objektdetektionssensors (5,6) des Kraftfahrzeugs (1 ) über wenigstens ein erfasstes Objekt (3) berücksichtigt wird. 1 . Method for determining at least one passable area (2a) in the surroundings of a motor vehicle (1), in particular for vehicle guidance, in particular for determining an avoidance trajectory for a driver assistance system (4) of the motor vehicle (1), wherein the motor vehicle (1) has at least one Object detection sensor (5,6) for detecting objects or obstacles (3) in the environment of the motor vehicle (1), characterized in that the time course of occupancy information of at least one object detection sensor (5,6) of the motor vehicle (1) via at least one detected object (3) is taken into account.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass durch eine Untersuchung und Interpretation der Belegungsinformation des wenigstens einen Objektdetektionssensors (5,6) des Kraftfahrzeugs (1 ) über das wenigstens eine erfasste Objekt (3) zu einem aktuellen Zeitpunkt (k) und zu wenigstens einem vergangenen Zeitpunkt (k-1 ) der wenigstens eine befahrbare Bereich (2a) bestimmt wird. 2. The method according to claim 1, characterized in that by an examination and interpretation of the occupancy information of the at least one object detection sensor (5,6) of the motor vehicle (1) via the at least one detected object (3) at a current time (k) and at least one past time (k-1) of the at least one passable area (2a) is determined.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass eine Retrodiktion der Belegungsinformationen des wenigstens einen Objektdetektionssensors (5,6) des Kraftfahrzeugs (1 ) über das wenigstens eine erfasste Objekt (3) für ein vorgegebenes Zeitintervall (At) vorgenommen wird. 3. The method according to claim 1 or 2, characterized in that a retrodiction of the occupancy information of the at least one object detection sensor (5,6) of the motor vehicle (1) via the at least one detected object (3) for a predetermined time interval (At) is made.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass die Länge des vorgegebenen Zeitintervalls (At) derart gewählt wird, dass eine hinreichend hohe Genauigkeit in der Geschwindigkeitsinformation bzw. in der Beschleunigungsinformation über das wenigstens eine erfasste Objekt (3) erreicht wird. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass eine Interpolation der Belegungsinformationen des wenigstens einen Objekt- detektionssensors (5,6) des Kraftfahrzeugs (1 ) über das wenigstens eine er- fasste Objekt (3) fortlaufend in Zyklen vorgenommen wird. 4. The method according to claim 3, characterized in that the length of the predetermined time interval (At) is selected such that a sufficiently high accuracy in the speed information or in the acceleration information on the at least one detected object (3) is achieved. Method according to one of claims 1 to 4, characterized in that an interpolation of the occupancy information of the at least one object detection sensor (5,6) of the motor vehicle (1) via the at least one detected object (3) is carried out continuously in cycles.
Verfahren zur Kollisionsvermeidung für ein Kraftfahrzeug (1 ), bei welchem bei einem sich während der Fahrt nähernden Hindernis (3) ein Fahrmanöver des Kraftfahrzeugs (1 ) zum Ausweichen autonom oder semiautonom durchgeführt oder vorgeschlagen wird, wobei das Fahrmanöver auf einer kollisi- onsvermeidenden Ausweichtrajektorie basiert, welche unter Berücksichtigung von wenigstens einem mittels des Verfahrens zur Bestimmung wenigstens eines befahrbaren Bereichs (2a) in der Umgebung des Kraftfahrzeugs (1 ) gemäß einem der Ansprüche 1 bis 5 bestimmten befahrbaren Bereich (2a) ermittelt wird. Method for collision avoidance for a motor vehicle (1), in which a driving maneuver of the motor vehicle (1) is carried out or proposed autonomously or semi-autonomously during an approaching obstacle (3) while the driving maneuver is based on a collision avoiding avoidance trajectory which is determined taking into account at least one passable area (2a) determined by means of the method for determining at least one passable area (2a) in the vicinity of the motor vehicle (1) according to one of claims 1 to 5.
Computerprogramm mit Programmcodemitteln, um ein Verfahren gemäß einem der Ansprüche 1 bis 6 durchzuführen, wenn dass Programm auf einem Mikroprozessor eines Mikrocomputers, insbesondere auf einer Steuereinrichtung (4a) eines Fahrerassistenzsystems (4) eines Kraftfahrzeugs (1 ), ausgeführt wird. Computer program with program code means for carrying out a method according to one of claims 1 to 6, when the program is executed on a microprocessor of a microcomputer, in particular on a control device (4a) of a driver assistance system (4) of a motor vehicle (1).
Computerprogrammprodukt mit Programmcodemitteln, die auf einem computerlesbaren Datenträger gespeichert sind, um ein Verfahren gemäß einem der Ansprüche 1 bis 6 durchzuführen, wenn dass Programm auf einem Mikroprozessor eines Mikrocomputers, insbesondere auf einer Steuereinrichtung (4a) eines Fahrerassistenzsystems (4) eines Kraftfahrzeugs (1 ), ausgeführt wird. Computer program product with program code means which are stored on a computer-readable data carrier in order to carry out a method according to one of claims 1 to 6, if the program is stored on a microprocessor of a microcomputer, in particular on a control device (4a) of a driver assistance system (4) of a motor vehicle (1). , is performed.
Vorrichtung, insbesondere Fahrerassistenzsystem (4) eines Kraftfahrzeugs (1 ), zur Durchführung eines Verfahrens gemäß einem der Ansprüche 1 bis 6, mit wenigstens einem Objektdetektionssensor (5,6) zur Erfassung von Objekten bzw. Hindernissen (3) in einer Umgebung des Kraftfahrzeugs (1 ), und einer Steuereinrichtung (4a), welche mit dem wenigstens einen Objektdetektionssensor (5,6) verbunden ist und welche zur Ausführung eines Computerprogramms gemäß Anspruch 7 eingerichtet ist. Device, in particular driver assistance system (4) of a motor vehicle (1), for carrying out a method according to one of claims 1 to 6, with at least one object detection sensor (5, 6) for detecting objects or obstacles (3) in an environment of the motor vehicle ( 1), and a control device (4a), which is connected to the at least one object detection sensor (5,6) and which is adapted to execute a computer program according to claim 7.
EP10752753A 2009-10-14 2010-09-01 Method for determining at least one area in which a vehicle can drive in the surroundings of a motor vehicle Withdrawn EP2489026A1 (en)

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