EP2577639B1 - Approach warning system and method for detecting the approach of moving objects - Google Patents

Description

The present invention relates to an approach warning system and a method for detecting the approach of moving objects, in particular persons, to a vehicle having such a proximity warning system.

The early detection of moving objects such as persons, pets, livestock, wildlife, play equipment or bicycles by drivers of vehicles is an essential prerequisite for reducing the number of accidents resulting from the collision of vehicles with such moving objects. This applies both to the participation of movable objects and vehicles in public roads, as well as the operation of vehicles on private land, on which additionally movable objects. In particular, on construction sites, in agriculture, in industrial plants and in logistics centers, there are always serious accidents because the leaders of the vehicles, because of blind spots and other obstructions, such as obstacles, overlooked moving objects in the vicinity of the vehicles. For large, confusing vehicles, such as harvesters, construction machines and the like, the risk of collisions is particularly high.

Measures available today to reduce the risk of accidents in the cases mentioned above are based primarily on increasing the visibility of the moving objects, for example by the installation of reflectors. So the carrying of safety vests in motor vehicles is common today. On the side of the vehicles additional means are used by which the drivers of the vehicles get a better view of possible moving objects, for example additional mirrors, especially for blind spots, or even cameras on the vehicles, for example as rear view cameras. These solutions are all optical solutions based on visual contact between the moving object and the vehicle. Thus, a protection of moving objects that occur in a short distance in the field of view of the vehicle, not possible, for example, when the moving objects emerge behind an obstacle. In addition, these measures require on the part of the vehicle consuming situations that are associated with high costs. In poor visibility conditions, such as fog or rain, these measures sometimes go nowhere and are ineffective. The same limitations and problems now apply to assistance systems introduced in motor vehicles that perform automatic detection of the environment with radar or cameras.

From the DE 930 15 466 A1 Furthermore, a method for receiving and carrying out a regulated radio operation for collision prevention between vehicles is known. In the process, location data are continuously determined by all vehicles and transmitted to other vehicles via electromagnetic signals. This has the disadvantage that these systems are very complex and have a high energy consumption in continuous operation. In addition, a localization infrastructure is needed to help vehicles detect their location, so this procedure can only be performed in specially equipped areas.

Besides, from the document ANURAG D ET AL: "GPS based vehicular collision warning system using IEEE 802.15.4 MAC / PHY standard", ITS TELECOMMUNICATIONS, 2008. ITST 2008. 8TH INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, October 24, 2008 (2008-10-24), pages 154-159, XP031402736, ISBN: 978-1-4244-2857-1 a GPS-based collision warning system, in which each participant evaluates GPS data to determine their own position and sends position information to neighboring participants.

In addition is from the EP 1 531 444 A2 a device for detecting a moving or non-moving object provided with at least one marking by means of a detection device arranged in a motor vehicle. The marking has a transmission signal giving a radio signal, and the detection device has a receiving means detecting this signal, which communicates with a processing device evaluating the signal, via which one or more vehicle-side third-party objects can be controlled as a function of the information content of the signal. On the basis of the signal on the processing device, the hood for personal protection can be set up.

Also is from the US 2004/263330 A1 a presence detection system comprising a radio transmitter and receiver. The transmitter includes a motion detection circuit, a microprocessor and a radio frequency modulator. The motion detection circuit is configured to transmit a motion detection signal to the microprocessor when the transmitter is moved in a predetermined manner. The microprocessor is configured to generate a coded message comprising a preamble indicating a beginning of the coded message, an identification code indicating a type of transmitter, and a control message, such as a checksum, containing information about the contents of the coded message indicates includes. Of the Radio frequency modulator is configured to modulate the coded message with a transmission frequency.

Accordingly, it is an object of the present invention to provide a proximity warning system and a method for detecting the approach of any objects to a vehicle that are suitable for mobile use, a simple one and cost-effective structure and allows use in any location.

This object is achieved by the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

According to the invention, the object is achieved by an approach warning system with a warning module and at least one marking module, wherein the marking module comprises a transmitting unit for the emission of electromagnetic signals and a motion detector and is designed to emit presence signals as electromagnetic signals upon detection of a movement, the warning module a receiving unit for the electromagnetic signals radiated by the marking module and an output device, and designed to output an approach warning via the output device depending on the reception of the presence signals emitted by the marking module, the warning module comprises a processing unit and is designed to process the received presence signal in order to and / or position parameters of the marking module to determine and the approach warning taking into account the movement and / or position parameters of the Markierungsm output module, and the warning module comprises a prediction unit configured to perform a prediction of the approach of the marker module to the warning module from the motion and / or position parameters and to output the proximity warning in consideration of the prediction of the approach of the marker module to the warning module.

The object according to the invention is also achieved by a method for detecting the approach of moving objects, in particular, by persons to a vehicle with a proximity warning system as indicated above, each moving object having a marker module, and the vehicle having a warning module.

The basic idea of the present invention is thus to ensure, by combining the use of a radio transmission of the presence signals from the marking module to the warning module, that detection of the approach takes place independently of the presence of a line of sight. The propagation of the radio waves avoids blind spots or shadowing by obstacles in the field of view of the warning module, thus increasing the security against optical proximity warning systems. At the same time, by using the motion detector, the marker module only transmits presence signals when movement of the marker module is detected. This causes the marking module to have low power consumption and to achieve a long service life. The transmitting unit of the marking module for the emission of electromagnetic signals can be designed in principle according to any standard or proprietary. It can be designed for the emission of digital, analogue electromagnetic signals which are emitted continuously or as pulses according to any transmission scheme. The receiving unit of the warning module is designed to be compatible in order to receive the electromagnetic signals of the marking module. Marking and warning module can each have a dedicated transmitting or receiving unit exclusively for the transmission of the presence signals, or the transmitting and receiving unit are designed as a universal transmitting and receiving unit for transmitting any data between any participants. Also, the receiving unit of the warning module can be executed, update information for a software update or a change in the configuration of the alert module. Advantageously, it is possible to vary the transmission and / or reception level of the marking module or the warning module. This makes it possible to configure the range for the transmission of the presence signals and, above that, the triggering of the proximity warning. Preferably, the transmitting and receiving unit are connected to each other in the manner of a mesh or AdHoc network, so that a transmission of the presence signals without prior configuration of the transmitting and receiving unit can be carried out. The motion detector is configured to detect the presence of movement of the marker module. Preferably, the motion detector is designed as a shock sensor that detects vibrations associated with movements. Even more complex motion detectors that detect, for example, an absolute change of position, can be used.

The marking module can, for example, transmit self-acquired motion and / or position parameters with or instead of the presence signal, so that the warning module can output the proximity warning depending on these parameters of the marking module. For example, at a high speed of the marking module, an approach warning may already be generated at a greater distance of the marking module from the warning module. In addition, a possible reaction of a person wearing a marking module can be detected if, for example, the speed of the marking module is reduced and a deceleration or arrest of the marking module is detected.

Such methods for predicting the approach of the marking module to the warning module are known in the art known as such, for example, as a pattern recognition method, so that will not be discussed in detail. The alert module may generate the proximity alert depending on whether another approach is occurring or likely, or even a potential collision is occurring. In contrast, even a quick movement of the marking module is not dangerous if it moves away from the warning module.

The warning module is well suited for retrofitting in existing vehicles due to its simple structure. Advantageously, the warning module is a device that can be used independently in the vehicle, so that installation of the warning module in the vehicle is not required. Alternatively or additionally, in vehicles that have their own electrical power supply, the warning module have connection means to connect them to the power supply of the respective vehicle. In addition, the operating time of the warning module can be extended. For example, the warning module can be connected to a 12 volt or possibly 24 volt electrical system via a connection with a cigarette lighter which is common in motor vehicles. Furthermore, it is possible to carry vehicles directly integrally with such a warning module. Thus, the warning module can be tuned to the respective vehicle, for example in order to achieve the best possible reception of the presence signals and to ensure a power supply of the warning module via a power supply of the vehicle. The integration of the warning module in the vehicle can be done directly during production or by retrofitting. The marking module is well suited for its implementation as a mobile device with an electrical energy storage due to its low energy consumption. Due to the low energy consumption of the energy storage can be made small, so the marking module as a whole has a low weight and a small size. The marking module can thus be easily carried by the moving objects, in particular persons or animals. In order to carry out the use of the marking module on the moving object, the marking module can be designed as a collar, so that it can be worn around the neck by a person or an animal. Accordingly, an embodiment of the marking module as a bracelet is possible, for example, as a bracelet of a clock. For use on construction sites or the like integration into a protective helmet is possible. In addition, the marking module may be incorporated into garments, bags, accessories or gaming devices to achieve automatic protection of a user or wearer of these articles. In particular, children's toys can be performed with such a marking module to automatically protect children playing with it. Such children's articles relate, for example, scooters, tricycles, wheels or even school knapsacks.

Marking and / or warning module may include a display device that indicates the operating status of the respective module. As a result, a carrier or user of the respective module can be signaled that it is no longer protected by the corresponding module and cause it to replace the module or the corresponding power supply.

The output device can be designed as an optical, acoustic and / or haptic output device. The type of the output device may be selected depending on the intended use in the vehicle, so that, for example, in an environment with a high noise level preferably an optical and / or haptic output device is present in the warning module or is used by configuration, while, for example, in vehicles which require complex operation, the use of an acoustic warning unit may be preferred. The type of proximity warning may be arbitrary, with a simple form of proximity warning in an output of a signal in the presence of a marker module in a receive radius of the alert module. The output device may be configured to indicate a mere presence of a marking module in the receiving area of the warning module, or to indicate the number of marking modules in the receiving area, or to output each marking module individually in a position-dependent manner by a separate signal. For example, the position of individual marking modules around the warning module can be displayed in the manner of a radar screen. It is also possible to combine the warning module with a map view, so that the position of each marker module can be displayed directly in the map view. An integration of the warning module in mobile devices such as mobile phones, laptops or the like is possible to use their output devices.

In an advantageous embodiment of the invention, the motion detector comprises an acceleration sensor. The acceleration sensor is suitable for detecting a change in the position of the marking module. The motion detector may be configured to detect the presence of acceleration as an indication of movement. The acceleration sensor is easy to implement and provides a cost effective way of detecting movement.

In a further embodiment of the invention, the motion detector is designed to detect a way of speed, direction and / or change of movement. For this purpose, the motion detector can be designed with an acceleration sensor and perform an evaluation of the acceleration values provided by the acceleration sensor. Alternative embodiments for determining the movement parameters are also possible. The listed motion parameters can be used, for example, to influence the emission of the presence signals. This implies that presence signals are emitted altered depending on these parameters, for example in their frequency, the transmission power used, in frequencies used, or the like.

In a further embodiment of the invention, the warning module comprises a transmitting unit for the emission of electromagnetic signals and is designed to emit trigger signals as electromagnetic signals, and the marking module comprises a receiving unit for the radiated from the warning module electromagnetic signals and is executed, presence signals depending on the reception of To emit trigger signals. On the one hand, the trigger signals represent information for the marking module which is present in the vicinity of the marking module by a warning module and a vehicle connected thereto, so that a corresponding warning signal can also be output at the marking module. As a result, the attention of a carrier of the marking module can be increased, whereby an additional protective effect is generated. On the other hand, the trigger signal can be used to influence the emission of the presence signals. When trigger signals are received, the emission of a presence signal can be explicitly triggered, or the reception of trigger signals serves to to influence the frequency of emission of presence signals. In particular, parameters of the received trigger signal can be taken into account, such as, for example, a signal strength of the received signal, time of arrival (ToA) information, frequency information or the like. In a preferred embodiment, the marking module is designed to perform the emission of the presence signals as an immediate response to the reception of the triggering signals of the warning module. Marking module and warning module are executed according to this embodiment, perform a polling method. Preferably, the marking module is caused to transmit the presence signals at an increased frequency upon an already made large approach to the warning module, so that the warning module can update the approach warning at a high frequency.

In an advantageous embodiment of the invention, it is provided that the warning module and / or the marking module comprises an energy generating unit for converting kinetic energy into electrical energy. Accordingly, the useful life of the marking module and / or the warning module can be increased without requiring maintenance in the form of charging or exchanging the energy store or the entire marking module and / or the warning module. Such power generation units are known as such in the art, so that further details will not be discussed. These techniques are also known as energy harvesting. For example, when the marker module is carried by a pedestrian, energy pulses of a mechanical nature result from the movement through the individual steps and are easily converted into electrical energy. This principle is also known from wristwatches.

In an advantageous embodiment of the invention, the marking module is designed to transmit information about the motion detected by the motion detector with the presence signals. The motion information includes a type, speed, direction and / or change of motion and may be explicitly transmitted in the presence signal. The transmission of motion parameters can replace an explicit presence signal. Also, an implicit transmission by unchanged presence signals is possible, for example by the frequency of the emission of the presence signals is changed depending on the speed. In the warning module, further processing of the movement information can take place in order to influence the triggering or the type of approach warning.

In an advantageous embodiment of the invention, the processing unit is designed to process radio parameters of the received presence signal in order to determine movement and / or position parameters of the marking module. Such radio parameters include time of arrival (ToA) signal strength, received signal strength (RSSI) received signal strength, transmission frequency, a used channel number, modulation types, a frequency of emission of presence signals, or the like, directly or indirectly providing information about Movement or the position of the marking module can be derived. Also, locating methods, for example with a plurality of connected antennas, may be performed to determine a position of the marker module thereabove.

Advantageously, the warning module comprises a calibration data memory for movement and / or position parameters of the marking module taking into account in the calibration data memory to record stored calibration data. Also, various calibration records may be stored in the memory so that they may be activated quickly depending on the use of the alert module, for example, when a warning module is to be used in various vehicles. The calibration may take into account specific propagation characteristics of the electromagnetic signals resulting, for example, from the use of the warning module on different vehicles. Large construction machines, for example, are predominantly made of metal and therefore partially shield the electromagnetic signals. Due to the uneven shape of these vehicles, electromagnetic signals from equidistant tag modules with different radio parameters can be received at the alert module.

In an advantageous embodiment of the invention, the warning module is designed to modify the calibration data by a learning function and / or supplement. For example, an acknowledgment can be made via a warning module UI if an approach warning has not been output at all, incorrectly or at the wrong time.

In an advantageous embodiment of the invention it is provided that the marking module comprises an identification device for generating identification information and is designed to transmit the identification information of its identification device with the presence signals, and the warning module is designed to output the proximity warning taking into account the identification information. The identification device can in principle be of any desired design and comprises a user interface for entering the identification. This user interface can be used as a DIP switch, electronic Configuration interface, fingerprint reader, as a keypad for entering an identification number, or be designed as a card reader for reading certain data cards or even an identity card. For example, the user interface can be implemented with RFID technology in order to have the marking module automatically read out the identification information from a corresponding RFID chip. Thus, the identification information can be read automatically as soon as the respective module of a person with an identity card will be carried. For example, by identifying the wearer of the marking module, his age can be determined to identify children who are particularly easily overlooked because of their small size and accordingly promptly trigger an approach warning.

In a further embodiment of the invention, it is provided that the warning module and the marking module comprise an identification device for generating identification information, the marking module is designed to transmit the identification information of its identification device with the presence signals, and the warning module is executed, a comparison of those transmitted with the presence signals Perform identification information with those of its identification device and output the proximity warning taking into account the comparison. As a result, for example, a unitary module can be used as a warning module or as a marking module by receiving a corresponding identification. Accordingly, only one kind of module is to be provided. Furthermore, it can be determined by comparing the identification information when a warning module and a nearby marking module has the same identification. In that case, it is to be assumed that the carrier of the marking module operates, for example, as the driver of a vehicle which has a warning module, and a corresponding approach warning can be deactivated for the marking module with the same identification. The identification device can in principle be of any desired design and comprises a user interface for entering the identification. This user interface can be designed as a fingerprint reader, as a keypad for entering an identification number, or as a card reader for reading certain data cards or even an identity card. For example, the user interface implemented with RFID technology to automatically let the marking module read out the identification information from a corresponding RFID chip. Thus, the identification information can be read automatically as soon as the module is carried by a person with an identity card.

In a further advantageous embodiment of the invention, the proximity warning system is designed in such a way that the marking module is assigned to a class of a plurality of classes and designed to emit the presence signal with information about the class assigned to it, and the warning module is executed, taking into account the proximity warning output the class of the marking module. The class may be fixedly associated with the marking module, for example when the marking module is integrated with an object such as a child's toy, a bicycle, a garment for a person or a vehicle, or performed dynamically, for example when it is determined via the motion detector that the art the locomotion is a walking motion. An automatic assignment via the identification information is possible. The various classes may correspond to particular hazard potentials, for example by a high or low velocity implicit in a class or a size of the mobile object to which the marker module is assigned. Thus, in an exemplary infant class, a different approach alert may be issued and / or the approach alert may be issued particularly early compared to an adult class. Also, the classes may be taken into account in the pre-calculation of the movement of the marking module. For example, in motor vehicles only minor directional changes are expected compared to pedestrians.

In a further embodiment of the invention, it is provided that the transmitting unit and the receiving unit are designed to emit and receive electromagnetic signals in accordance with IEEE 802.15.4. The standard IEEE 802.15.4 is also known under WPAN and operates in the free 2.4 GHz band, which is why the WPAN proximity warning system can be used anywhere without prior approval. WPAN is also characterized by low energy consumption, so that in particular marking modules can be provided with a long service life.

The transmitting unit and the receiving unit are preferably designed to perform an adaptive frequency adjustment to ensure the transmission of the presence signals and optionally the trigger signals. For this purpose, signal strength measurements at different frequencies can be carried out, for example, by the warning module, and when a marking module approaches, a preferred frequency for transmitting the presence and / or trigger signals can be transmitted to it. Transmission methods using frequency hopping are also possible.

In an advantageous embodiment of the invention it is provided that the warning module comprises a detection device to detect a movement and / or position of the warning module, and is designed to output the proximity warning in consideration of their own movement and / or position. The motion and / or position of the alert module may be used to predict the likelihood of further approach of marker modules, as previously stated. In addition, position information can be used to capture, for example, via the combination with map data preferred movement paths of the warning module and / or the marking module and to be considered in the approach warning. For example, road vehicles are considered to be predominantly moving on roads and not performing any movement that causes them to leave the road. For example, it is possible to combine the alert module with a GPS receiver so that the location of each marker module is displayed directly in a map view provided by the GPS receiver.

In an advantageous embodiment of the invention, a plurality of marking modules are provided, and the warning module is designed to output the proximity warning for each marking module individually via the output device. For example, the individual marking modules can be marked individually on a screen, so that the vehicle running with the warning module can be safely guided through between the marking modules.

Warning and marking modules are always made interchangeable. Accordingly, it is possible, for example, on a construction site to equip a plurality of vehicles with similar warning modules and to protect each person by a marking module in such a way that when approaching any vehicle on the construction site generates an approach warning. Advantageously, in such a system, each vehicle with a warning module is additionally provided with a marking module in order to warn vehicles with warning modules not only in front of persons who carry exclusively marking modules when approaching, but also in front of other vehicles with both modules.

Fig. 1

Annäherungssystem gemäß einer ersten Ausführungsform der vorliegenden Erfindung mit einem Markierungsmodul und einem Warnmodul jeweils in schematischer Ansicht,

Fig. 2

ein Markierungsmodul gemäß der ersten Ausführungsform der vorliegenden Erfindung als Endgerät mit Gehäuse und Antenne in Draufsicht,

Fig. 3

eine Ausgabeeinrichtung des Warnmoduls mit drei Warnbereichen in Draufsicht,

Fig. 4

eine schematische Ansicht eines Fahrzeugs mit einem Warnmodul und daran angeordneten Warnbereichen,

Fig. 5

eine Darstellung verschiedener Bewegungsabläufe bei der Annäherung eines Markierungsmoduls an ein Warnmodul,

Fig. 6

ein beispielhaftes Betriebszustandsdiagramm eines Markierungsmoduls,

Fig. 7

ein beispielhaftes Betriebszustandsdiagramm eines Warnmoduls,

Fig. 8

Annäherungssystem gemäß einer zweiten Ausführungsform der vorliegenden Erfindung mit einem Markierungsmodul und einem Warnmodul jeweils in schematischer Ansicht, und

Fig. 9

ein Markierungsmodul gemäß der zweiten Ausführungsform der vorliegenden Erfindung als Endgerät mit Gehäuse und Antenne in Draufsicht.

Further advantageous embodiments of the invention will become apparent from the description of the embodiments with reference to the accompanying drawings. In the drawing shows:

Fig. 1

Approach system according to a first embodiment of the present invention with a marking module and a warning module, respectively in schematic view,

Fig. 2

a marking module according to the first embodiment of the present invention as a terminal with housing and antenna in plan view,

Fig. 3

an output device of the warning module with three warning areas in plan view,

Fig. 4

a schematic view of a vehicle with a warning module and warning areas arranged thereon,

Fig. 5

a representation of various movements during the approach of a marking module to a warning module,

Fig. 6

an exemplary operating state diagram of a marking module,

Fig. 7

an exemplary operating state diagram of a warning module,

Fig. 8

Approach system according to a second embodiment of the present invention with a marking module and a warning module respectively in a schematic view, and

Fig. 9

a marking module according to the second embodiment of the present invention as a terminal with housing and antenna in plan view.

In FIG. 1 an approach warning system 1 according to a first embodiment of the present invention with a marking module 2 and a warning module 3 is shown. The marking module 2, which is also in FIG. 2 1, comprises a transmitting unit 4, which in this exemplary embodiment is designed as a system on chip (SoC). The transmitting unit 4 comprises a microcontroller 5 and a radio module 6, which are connected to an antenna 7 of the marking module 2. The microcontroller 5 performs a coding of data that are sent via the radio module 6.

Furthermore, the marking module 2 comprises a functional unit 8 with a logic unit 9, which is designed as a microprocessor, and a motion detector 10, which is designed as an acceleration sensor. The marking unit 2 further comprises a power supply device 11 with an integrated energy-generating device that operates energy harvesting and converts mechanical kinetic energy into electrical energy. The power supply device 11 is connected to the transmitting unit 4 and the functional unit 8 and supplies electrical energy for their operation. With the power supply device 11, a LED 12 is electrically connected in a manner not shown, which is positioned in a housing 13 of the marking module 2 and is designed to indicate a state of charge of an energy storage of the power supply device 11.

The warning module 3 comprises a receiving unit 12, which in this exemplary embodiment is designed in accordance with the transmitting unit 4 of the marking module 2 as a system on chip (SoC). Accordingly, the receiving unit 12 also includes a microcontroller 5 and a radio module 6. The microcontroller 5 is executed here, a Decoding data received via the radio module 6 to perform. Receiving unit 12 and transmitting unit 4 thus differ only by their use.

Furthermore, the warning module 3 comprises a power supply device 11, as has likewise already been described with reference to the marking module 2.

Furthermore, the warning module 3 comprises a warning device 13 with a processing unit 14, which is designed as a microprocessor, and an output device 15.

FIG. 3 shows the output device 15 in detail. The output device 15 comprises a plurality of LEDs 20, which are arranged in three warning areas 21, 22, 23. The warning areas 21, 22, 23 are arranged in concentric rings, the outer ring representing an outer warning area 21, the middle ring representing a middle warning area 22 and the inner ring an inner warning area 23. A vehicle 24 in which the warning module 3 is positioned , forms the center of the warning areas 21, 22, 23, as in FIG. 4 is shown. In addition, the output device 15 comprises an acoustic warning device, which is not shown separately and is indicated by sound waves 25 shown here.

The warning module 3 and the marking module 2 are designed to communicate with one another via a radio link 26 and to transmit electromagnetic signals.

Furthermore, using the Figures 5-7 the operation of the proximity warning system 1 is described.

The warning module 3 of the approach system 1 is attached to the vehicle 24 shown in FIG. An activation of the warning module 3 takes place as soon as the vehicle 24 is started. For this purpose, the vehicle 24 is electrically connected to the warning module 3 in a manner not shown here. The warning module 3 is supplied with energy via this electrical connection.

The marking module 2 is attached to a movable object 27. The moving object 27 in this embodiment is a person as in FIG Fig. 4 is indicated. The marking module 2 has no operating switch and is quasi constantly activated. As soon as the movement detector 10 of the marking module 2 detects a movement, the logic unit 9 will emit a presence message via and the transmission module 4 and the antenna 7. The marking module 2 is designed to evaluate signals received by the motion detector 10 via the logic unit 9 such that more presence messages are sent when frequent movement is detected by the motion detector 10.

In FIG. 6 a corresponding operating state diagram is shown by way of example. In the diagram in FIG. 6 Processing starts with the start 100.

In the subsequent step 110, the motion detector 10 is interrogated by the logic unit 9.

In the following step 120 it is checked whether a change of the movement has occurred. Since the motion detector 10 is an acceleration sensor, it is checked whether the acceleration has changed. If a change has occurred, a transition is made to step 130, otherwise to 140.

In state 130, the transmission interval and the transmission power of the presence messages are adapted. If an acceleration occurs, the transmission interval is shortened and the transmission power for emitting the presence messages is increased. With a reduction in speed, a corresponding inverse adaptation of transmission interval is shortened and transmission power. Processing continues at step 140.

In step 140, a message is sent according to the currently set values for the transmission interval and the transmission power. This implies that in step 140 a wait period is added until the send interval for sending the next presence message is reached.

In FIG. 7 an exemplary operating state diagram for the warning module 3 is shown.

Processing begins in step 200, which is defined as the starting point for the operating state diagram.

In step 210, a presence message is received from the marker module 2. The received presence message is processed with regard to the radio parameters Received Single Strength Indicator (RSSI), Time of Arrival (ToA), the transmission frequency and analyzed in the processing unit (9). In addition, the received presence signal in the processing unit (9) is compared in terms of the frequency of the presence signals with the time of the previous presence signal of the marking module 2 to determine the frequency of the emission of the presence signals. The processing unit 9 of the warning module 3 then carries out a further processing of the aforementioned information in order to determine a distance of the marking module 2 from the warning module 3. The distances are divided into categories, which coincide with the warning areas 21, 22, 23. In addition, a plausibility check of the received presence signal takes place.

In step 220, depending on a result of the processing of the information in the processing unit 9, a branch to the steps 230, 240 or 250 is performed. In step 230, the received presence signal is discarded. In this case, the plausibility check has shown that the received presence signal is not to be processed. It follows the return to start 200.

In step 240, a visual proximity warning is generated via the output device 15. Depending on the determined distance of the marking module 2 from the warning module 3, the LEDs 20 of the corresponding warning area 21, 22, 23 are selected for activation. This is followed by step 260.

When approaching into the inner warning area 23, an audible alarm is triggered when falling below an additional limit, not shown here. The output device 15 is accordingly configured in step 250 to trigger an audible alarm via the audible warning unit. This is followed by step 260.

In step 260, the proximity alert is issued. This relates to both the visual alarm of step 240 and the audible alarm of step 250. Audible and visual alarms may be generated simultaneously by the output device 15. There is a subsequent return to start 200.

In FIG. 5 an exemplary course of different approach scenarios is shown. According to an idealized course 30, the marking module 3 approaches the outer warning area 21, whereupon an optical proximity warning, as previously described with reference to step 240 in FIG FIG. 7 described, is triggered. Subsequently, a driver of the vehicle 24 performs countermeasures to prevent further approach of the marking module 2 to the warning module 3. Correspondingly, the curve 30 shows that the marking module 2 is removed again from the warning module 3.

Due to reaction and delay times, a real progression 31 results in a greater approximation of the marking module 2 to the warning module 3. The real profile 31 represents a smoothed curve, with a curve 32 showing the distances detected by the processing unit 9. Due to non-ideal transmission ratios via the radio transmission 26, the curve 32 shown arises. Accordingly, a tolerance range is shown within lines 33, which defines a range for plausible values. If the processing unit 14 determines a distance value that is outside the tolerance range, the measurement is rejected as implausible, as described in step 230.

The graph 34 shows a course of an approach of the marking module 2 to the warning module 3 into a critical area. As soon as the distance between the marking module 2 and the warning module 3 reaches the outer warning area 21, the middle warning area 22 or the inner warning area 23, a corresponding visual alarm is generated with the output device 15 on the warning module 3, as described in step 240. In addition, upon further approximation, as described in step 250, an audible alarm via the acoustic output unit of the output device 15. Accordingly, according to graph 34, an approximation of the marking module 2 to the warning module 3 are prevented until collision.

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS Fig. 8 and 9 described. Since the second embodiment is substantially identical to the previous one, only deviations will be described.

In the second embodiment of the present invention, the marking module 2 and the warning module 3 comprise a transmitting and receiving unit 40 instead of the transmitting unit 4 or the receiving unit 12. The transmitting and receiving unit 40 comprises, as described above, a microcontroller 5 which is used for the coding and Decoding of data is performed, and a radio module 6 for the emission and reception of electromagnetic signals. Accordingly, the transmitting and receiving unit 40 is supplied via the power supply device 11 with electrical energy.

Furthermore, the functional unit 8 of the marking module 2 comprises a warning output unit 41. The warning output unit 41 includes a vibration device not shown in detail and an acoustic output device. The vibration device is indicated by mechanical vibrations 42 shown in FIG. 9 and the acoustic warning device by sound waves 43 likewise shown in FIG. 9.

The warning module 3 is executed during operation to send trigger signals. In addition, as soon as a trigger signal is received by the marker module 2, an emission of the presence signals is triggered. In addition, a warning output is generated in the warning output unit 41 by the logic unit 9 of the marking module 2. The warning output unit 41 is actuated by the logic unit 9 analogously to the above-described output of the proximity warning via the output device 15 of the warning module depending on radio parameters, so that first an approaching an audible alarm and additionally upon further approach a vibration alarm is triggered. Accordingly, both the driver of the vehicle 24 performs countermeasures to prevent further approach of the marking module 2 to the warning module 3, as well as the person who carries the marking module 2 as a moving object 27. Thereby, the likelihood of collision of the vehicle 24 with the movable object 27 can be further reduced.

Claims (13)

1. A proximity warning system (1) having a warning module (3) and at least one marking module (2),
   the marking module (2) comprising a transmitting unit (4) for emitting electromagnetic signals and a motion detector (10) and being implemented for emitting presence signals as electromagnetic signals when a motion is detected,
   the warning module (3) comprising a receiving unit (12) for the electromagnetic signals emitted by the marking module (2) and an output device (15) and being implemented for outputting a proximity warning via the output device (15) depending on receiving the presence signals emitted by the marking module (2),
   the warning module (3) comprising a processing unit (14) and being implemented for processing the received presence signal in order to determine motion and/or position parameters of the marking module (2) and to output the proximity warning under consideration of the motion and/or position parameters of the marking module (2), and
   the warning module (3) comprising a predictive calculation unit implemented for performing a predictive calculation of the proximity of the marking module (2) to the warning module (3) from the motion and/or position parameters, and for outputting the proximity warning on the basis of the predictive calculation of the proximity of the marking module (2) to the warning module (3).
2. The proximity warning system (1) according to claim 1, characterized in that
   the motion detector (10) comprises an acceleration sensor.
3. The proximity warning system (1) according to any one of the claims 1 or 2, characterized in that
   the motion detector (10) is implemented for detecting a type, speed, direction, and/or change in the motion.
4. The proximity warning system (1) according to any one of the preceding claims, characterized in that
   the warning module (3) comprises a transmitting unit (40) for emitting electromagnetic signals and implemented for emitting trigger signals as electromagnetic signals, and
   the marking module (2) comprises a receiving unit for the electromagnetic signals emitted by the warning module and implemented for emitting presence signals depending on receiving trigger signals.
5. The proximity warning system (1) according to any one of the preceding claims, characterized in that
   the warning module (3) and/or the marking module (2) comprises an energy generating unit for converting kinetic energy into electrical energy.
6. The proximity warning system (1) according to any one of the preceding claims, characterized in that
   the marking module (2) is implemented for transferring information with the presence signals about the motion captured by the motion detector (10).
7. The proximity warning system (1) according to any one of the preceding claims, characterized in that
   the processing unit (9) is implemented for processing radio parameters of the received presence signal in order to determine motion and/or position parameters of the marking module (2).
8. The proximity warning system (1) according to any one of the preceding claims, characterized in that
   the warning module (3) and the marking module (2) comprise an identification device for generating identification information,
   the marking module (2) is implemented for transferring the identification information of the identification device thereof with the presence signals, and
   the warning module (3) is implemented for performing a comparison of the identification information transferred with the presence signals and that if the identification device thereof, and for outputting the proximity warning on the basis of the comparison.
9. The proximity warning system (1) according to any one of the preceding claims, characterized in that
   the marking module (2) is associated with a class of a plurality of classes and is implemented for emitting the presence signal having information about the class associated therewith, and
   the warning module (3) is implemented for outputting the proximity warning on the basis of the class of marking module (2).
10. The proximity warning system (1) according to any one of the preceding claims, characterized in that
    the transmitting unit (4) and the receiving unit (12) are implemented for emitting and receiving electromagnetic signals according to IEEE 802.15.4.
11. The proximity warning system (1) according to any one of the preceding claims, characterized in that
    the warning module (3) comprises a detecting device for detecting a motion and/or position of the warning module and is implemented for outputting the proximity warning on the basis of the motion and/or position thereof.
12. The proximity warning system (1) according to any one of the preceding claims, characterized in that
    a plurality of marking modules (2) are provided,
    and
    the warning module (3) is implemented for individually outputting the proximity warning for each marking module (2) via the output device.
13. A method for detecting the proximity of displaceable objects (27) to a vehicle (24) by means of a proximity warning system (1) according to any one of the preceding claims,
    each displaceable object (27) comprising a marking module (2), and
    the vehicle (24) comprising a warning module (3).

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