EP2504827A1 - Procédé d'avertissement concernant l'existence d'un objet dans l'environnement d'un véhicule et système d'aide à la conduite - Google Patents

Procédé d'avertissement concernant l'existence d'un objet dans l'environnement d'un véhicule et système d'aide à la conduite

Info

Publication number
EP2504827A1
EP2504827A1 EP10766272A EP10766272A EP2504827A1 EP 2504827 A1 EP2504827 A1 EP 2504827A1 EP 10766272 A EP10766272 A EP 10766272A EP 10766272 A EP10766272 A EP 10766272A EP 2504827 A1 EP2504827 A1 EP 2504827A1
Authority
EP
European Patent Office
Prior art keywords
area
vehicle
driving
detection area
vicinity
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Withdrawn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
EP10766272A
Other languages
German (de)
English (en)
Inventor
Nico Latsch
Mike Schliemann
Florian Kloss
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 EP2504827A1 publication Critical patent/EP2504827A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a method for warning of an object in the vicinity of a vehicle, a computer program for carrying out a corresponding method and a driving assistant system, in which the method is used for warning.
  • ultrasonic sensors determine a distance of an object to the vehicle within the non-visible area when the vehicle is stationary.
  • the distance of the object to the vehicle is stored again as a reference state at each standstill of the vehicle and tracked over a certain period of time.
  • a signal is sent to the driver.
  • a further signal is triggered when, in a derivable from the accelerator pedal position and / or the state of the drive train and / or the state of the braking device approach of the driver of the vehicle, the distance is less than the corresponding distance in the stored reference state.
  • a method for warning of an object in the vicinity of a vehicle comprises the following steps:
  • the detection area is an area in the vicinity of the vehicle and adjacent to a driving tube area of the vehicle, wherein the driving tube area is an area that the vehicle, in particular within a predetermined period of time is passed through;
  • One idea of the above method is to analyze the environment of a vehicle with respect to the presence of an object which could be a source of danger and, where appropriate, to warn of this object.
  • the analysis is independent of the absolute position of the vehicle, that is, the vehicle may be in motion during the analysis.
  • an object may be any moving object or even any fixed object, such as a road user, a building or another stationary or moving obstacle.
  • very small objects such as birds, stones and other small objects, should be disregarded in the above procedure. This can be done by predetermining the detection accuracy such that these objects are not recognized or, alternatively, when these objects are detected, a check is made in which objects smaller than a certain size are not taken into account or do not belong to objects within the meaning of the invention.
  • the method for warning against an object makes it possible to differentiate between potentially collision-relevant and non-collision-relevant objects.
  • the environment of the vehicle is divided into two areas, namely into a driving tube area and a detection area delimited therefrom.
  • the driving-tube area is the area that the vehicle is driven through within a certain period of time due to its driving movement and driving direction. It is directly adjacent to the vehicle and has a fixed length and width.
  • the driving tube area thus has a square or rectangular shape and when cornering on the shape of a curve section.
  • the detection area is delimited in its length and width and adjoins the driving area.
  • the detection region can completely surround the driving-tube region, or else partially adjoin the driving-tube region, such as, for example, the right-hand and / or left-hand boundary of the driving-tube region in the driving direction.
  • the signaling can be performed only if it is determined that the object is fixed and within a certain period of time from the detection area (3) will enter into the driving tube area.
  • the method may comprise the further steps:
  • the driving-route area and / or the detection area can be determined as a function of the vehicle speed.
  • a computer program which contains a program code which, when executed on a data processing unit, executes a method according to the invention.
  • the invention includes a driving assistant system for warning of an object in the vicinity of a vehicle.
  • the driver assistant system includes:
  • a data processing unit for determining a movement of the object based on a plurality of detected positions of the object
  • a signal generator for signaling when it is determined that the object moves in the detection area.
  • Figure 1 is a schematic representation of a vehicle having a driving tube area and a detection area
  • FIG. 2 shows a flow chart for a method for warning against an object in the surroundings of a vehicle.
  • the driving-tube area 2 and the detection area 2 are provided by the driving assistance system 10 in the form of a coordinate system, which ensures that information about the position of the object 4 can be precisely determined.
  • the dimensions of the driving-route area 2 as well as the dimensions of the detection area 3 can be determined as a function of the vehicle speed.
  • the detection region 3 can completely surround the driving-tube region 2, or else partially adjoin the driving-tube region 2, such as, for example, the right-hand and / or left-hand boundary of the driving-tube region 2 in the driving direction.
  • the driving-route area 2 may have a length 6 of approximately 50 m and a width 7 of approximately 3 m.
  • the detection area 3 may, for example, at the appropriate speed laterally of the driving-tube area 2 each have a length 8 of about 50 m and a width 9 of about 2 m.
  • the driving assistant system 10 of FIG. 1 has four sensors 12; however, the driving assistant system 10 may also include more or fewer sensors 12. Ultrasonic, lidar, radar or other suitable sensors 12 can be used as sensors 12.
  • the sensors 12 may have an ellipsoidal emission characteristic 13 with overlapping sensor regions 14, whereby a full detection of the driving-tube region 2 and / or the detection region 3 can be ensured, that is to say the driving-tube region 2 and the detection region 3 are located within the region through the sensors 12
  • the sensor 12 may be arranged at any position on the vehicle 1 and monitor, for example, a sensor area 14 before, laterally and / or behind the vehicle 1.
  • the sensors 12 thus detect the objects 4, 5 in the driving-tube and / or detection area 2, 3 and relay information about the positions of the objects 4, 5 in the coordinate system to a data processing unit of the driving assistant system 10.
  • the data processing unit can determine the movement of the object 4, 5 on the basis of the position detected by the at least one sensor 12.
  • the sensor detects the position of the object 4, 5 at at least two different times, so that the data processing unit can calculate the direction of movement and speed of the object 4, 5 in a known manner, eg vectorially.
  • it can be determined whether the object 4, 5 in the detection area 3 and / or driving-tube area 2 is a fixed or a moving object 4, 5.
  • the data processing unit can determine whether the stationary and / or moving object 4 is moving in the detection area 3 in the direction of the driving tube area 2, or whether the stationary and / or moving object 4 in the detection area 3 within a certain period of time from the detection area 3 in the driving tube area. 2 will occur.
  • the driving assistant system 10 further comprises a signal transmitter, which is connected to the data processing unit, and receives information about the position, direction of movement and speed of the objects 4, 5 from the data processing unit.
  • the signal generator can deliver an optical and / or acoustic warning signal in the case of a dangerous situation.
  • a dangerous situation may be given in particular if, for example, a moving object 4 is located in the detection area 3, and / or the moving object 4 is moving in the detection area 3 in the direction of the driving tube, and / or the moving object 4 is within a certain period of time from the detection area 3 will enter the driving-tube area 2, and / or the object 4 in the detection area 3 is a stationary object 4, and the stationary object 4 will enter the driving-route area 2 from the detection area 3 within a certain period of time.
  • a dangerous situation can be signaled when a stationary and / or moving object 5 is located in the driving-tube area 2. Which hazardous situation is signaled by a warning signal can be set variably.
  • a first method section 100 it is determined in a first method section 100 whether an object 5 is located in the driving-path region 2. If an object 5 is located in the driving-route area 2, this is signaled accordingly (step 101). If it is determined in the first method step 100 that no object 5 is located in the driving-path area 2, then in a next method step 200 it is determined whether an object 4 is located in the detection area 3 and if the position of this object 4 has changed so that suggests that it is a moving object 4. If there is a moving object 4 in the detection area 3, this is signaled according to step 201.
  • the individual method steps 100, 200, 300 are not bound to a specific order; that is, the individual method steps 100, 200, 300 can take place in any order or also simultaneously.
  • a danger is thus signaled when an acute danger situation exists while driving with the vehicle 1.
  • no evaluation of the absolute change in distance between the vehicle 1 and the object 4, 5 is carried out; but there is a determination of position, direction of movement and speed of the object 4, 5 in response to the vehicle movement.
  • it can be differentiated during the drive of the vehicle 1, whether an object 4, 5 is a fixed object 4, 5, or whether the object 4, 5 is a moving object 4, 5.
  • objects 4, 5, which do not change the distance to the vehicle 1, because they move, for example, parallel to the vehicle 1, can also be recognized as relevant for collision.
  • the driving-route area 2 and / or the detection area 3 can be determined as a function of the vehicle speed. As a result, an increased risk of danger can be taken into account at higher speeds.
  • the driving-route area 2 may have a length 6 of 50 m and a width 7 of 3 m.
  • the detection area 3 can, for example, at an appropriate speed the driving tube area 2 with a width 9 of 2 m completely surrounded.
  • the signaling according to the steps 101, 201, 301 can take place in the form of an optical and / or acoustic and / or haptic signal.

Landscapes

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

Abstract

L'invention concerne un procédé d'avertissement concernant l'existence d'un objet (4, 5) dans l'environnement d'un véhicule (1). Le procédé comprend les étapes suivantes consistant à : - détecter une position de l'objet (4) dans une zone de détection (3) dans l'environnement du véhicule (1), la zone de détection (3) étant une zone située dans l'environnement du véhicule (1) et adjacente à une zone de couloir de circulation (2) du véhicule (1), la zone du couloir de circulation (2) étant une zone que traverse le véhicule (1), en particulier dans une période prédéfinie ; - déterminer (200) un mouvement de l'objet (4) au moyen de plusieurs positions détectées de l'objet (4) ; - signaler (201) lorsque l'on constate que l'objet (4) se déplace dans la zone de détection (3).
EP10766272A 2009-11-24 2010-10-14 Procédé d'avertissement concernant l'existence d'un objet dans l'environnement d'un véhicule et système d'aide à la conduite Withdrawn EP2504827A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009047066A DE102009047066A1 (de) 2009-11-24 2009-11-24 Verfahren zur Warnung vor einem Objekt in der Umgebung eines Fahrzeugs sowie Fahrassistentensystem
PCT/EP2010/065389 WO2011064039A1 (fr) 2009-11-24 2010-10-14 Procédé d'avertissement concernant l'existence d'un objet dans l'environnement d'un véhicule et système d'aide à la conduite

Publications (1)

Publication Number Publication Date
EP2504827A1 true EP2504827A1 (fr) 2012-10-03

Family

ID=43300233

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10766272A Withdrawn EP2504827A1 (fr) 2009-11-24 2010-10-14 Procédé d'avertissement concernant l'existence d'un objet dans l'environnement d'un véhicule et système d'aide à la conduite

Country Status (6)

Country Link
US (1) US20130033371A1 (fr)
EP (1) EP2504827A1 (fr)
JP (1) JP2013511755A (fr)
KR (1) KR20120086719A (fr)
DE (1) DE102009047066A1 (fr)
WO (1) WO2011064039A1 (fr)

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DE102011112274A1 (de) 2011-09-05 2013-03-07 Brose Fahrzeugteile Gmbh & Co. Kg, Hallstadt Steuersystem
DE102011121775B3 (de) 2011-12-21 2013-01-31 Brose Fahrzeugteile Gmbh & Co. Kg, Hallstadt Steuersystem
JP5928486B2 (ja) 2012-02-14 2016-06-01 日産自動車株式会社 走行制御装置及び走行制御方法
DE102012013065A1 (de) 2012-07-02 2014-01-02 Brose Fahrzeugteile Gmbh & Co. Kg, Hallstadt Verfahren zur Ansteuerung einer Verschlusselementanordnung eines Kraftfahrzeugs
CN203435687U (zh) * 2013-08-31 2014-02-19 卓尔悦（常州）电子科技有限公司 一种雾化头
KR101480647B1 (ko) 2013-11-15 2015-01-09 현대자동차주식회사 협로 주행을 위한 조향 위험도 판단 시스템 및 그 판단 방법
DE102013114883A1 (de) 2013-12-25 2015-06-25 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt Steuersystem für eine motorische Verschlusselementanordnung eines Kraftfahrzeugs
DE102013114881A1 (de) 2013-12-25 2015-06-25 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt Steuersystem für eine motorische Verschlusselementanordnung eines Kraftfahrzeugs
WO2015177648A1 (fr) 2014-05-14 2015-11-26 Ofer Springer Systèmes et procédés de détection de bordure de trottoir et d'évaluation des risques pour les piétons
DE102015112589A1 (de) 2015-07-31 2017-02-02 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Steuersystem für eine motorisch verstellbare Laderaumvorrichtung eines Kraftfahrzeugs
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KR102571028B1 (ko) * 2016-12-20 2023-08-28 래쉬파이 인코포레이티드 인공 속눈썹 연장부에 사용하는 어플리케이터 및 케이스
DE102017106847A1 (de) * 2017-03-30 2018-10-04 Valeo Schalter Und Sensoren Gmbh Bestimmung eines Bewegungstrends von Objekten
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Also Published As

Publication number Publication date
JP2013511755A (ja) 2013-04-04
WO2011064039A1 (fr) 2011-06-03
US20130033371A1 (en) 2013-02-07
KR20120086719A (ko) 2012-08-03
DE102009047066A1 (de) 2011-05-26

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