EP2580098A1 - Dispositif de surveillance de l'environnement latéral d'un véhicule - Google Patents

Dispositif de surveillance de l'environnement latéral d'un véhicule

Info

Publication number
EP2580098A1
EP2580098A1 EP11726741.9A EP11726741A EP2580098A1 EP 2580098 A1 EP2580098 A1 EP 2580098A1 EP 11726741 A EP11726741 A EP 11726741A EP 2580098 A1 EP2580098 A1 EP 2580098A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
evaluation
sensor unit
control unit
unit
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Withdrawn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
EP11726741.9A
Other languages
German (de)
English (en)
Inventor
Matthias Marcus Wellhoefer
Stephan Zwerschke
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 EP2580098A1 publication Critical patent/EP2580098A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N5/00—Computing arrangements using knowledge-based models
    • G06N5/02—Knowledge representation; Symbolic representation
    • G06N5/022—Knowledge engineering; Knowledge acquisition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0002—Type of accident
    • B60R2021/0006—Lateral collision

Definitions

  • the invention relates to a device for the lateral environment monitoring of a vehicle according to the preamble of independent claim 1. From the prior art devices for monitoring the environment of a vehicle according to the preamble of independent claim 1.
  • LDS Lane Keeping Support
  • LDS Lane Departure -Warning
  • parking aids are installed a variety of expensive environment sensors in the vehicle.
  • the required sensors for the respective functions are dependent on the requirements, e.g. Range, opening angle, sensor data rate, etc., very different, so that a vehicle is equipped with multiple functions in the field of active and passive safety with a plurality of sensors.
  • the publication US 2004/0183281 A1 discloses, for example, a device for lateral monitoring of the surroundings of a vehicle with an evaluation and control unit and at least one forward-looking sensor unit.
  • the evaluation and control unit receives signals from the at least one prospective sensor unit evaluating them to detect an object in a lateral monitoring area and to determine
  • the evaluation and control unit additionally evaluates information about detected objects from another sensor unit which detects lateral skidding movements of the vehicle. Disclosure of the invention
  • the device according to the invention for the lateral monitoring of a vehicle with the features of independent claim 1 has the advantage that a low-cost sensor system is defined with multiple sensor units that a plurality of passive and active vehicle safety functions and / or driver assistance functions with information about Can supply objects in the lateral vehicle environment.
  • Embodiments of the present invention advantageously meet the requirements for data rate and / or coverage areas.
  • the great advantage of the present invention is on the cost side, since the sensor units of the device according to the invention cost approximately as much as a single laser scanner and thus are much cheaper than a stereo camera or a long or midrange radar system.
  • Vehicle comprises an evaluation and control unit and at least one prospective sensor unit, wherein the evaluation and control unit comprises at least one interface which receives signals from the at least one prospective sensor unit, and a computing unit which is coupled to the at least one interface and signals from the evaluates at least one forward-looking sensor unit for detecting an object in a lateral monitoring area and for determining information about the detected object.
  • the at least one prospective sensor unit is designed as a low-cost sensor unit, wherein on each vehicle side at least two prospective sensor units are arranged at a distance from one another and have overlapping monitoring areas.
  • the evaluation and control unit can be understood as meaning an electrical device, such as a control unit, in particular an airbag control unit, which processes or evaluates detected sensor signals.
  • the Evaluation and control unit may have at least one interface, which may be formed in hardware and / or software.
  • the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the evaluation and control unit.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
  • a computer program product with program code that is stored on a machine-readable carrier such as a
  • the at least one prospective sensor unit has a range in the range of approximately 2 to 10 m and / or a wide opening angle in the range of 120 to 170 ° and / or can be scanned at a data rate of approximately 1 to 2 kHz.
  • the at least one prospective sensor unit is designed as a cost-effective single-chip radar sensor.
  • a predictive sensor unit in the region of the C-pillar and a predictive sensor unit in the region of the A-pillar are arranged on each side of the vehicle. In conjunction with the selected opening angle range and / or the selected range of the sensor units, this ensures overlapping monitoring areas in the lateral vehicle environment in order to ensure reliable object recognition for subsequent vehicle safety functions or
  • the arithmetic unit calculates the position and / or the distance and / or the approach speed in relation to the vehicle and makes this information available.
  • the evaluation and control unit outputs the information calculated by the arithmetic unit with respect to the detected objects via at least one further interface to at least one vehicle safety system and / or at least one driver assistance system.
  • the information about detected objects output by the evaluation and control unit to at least one vehicle safety system can be used, for example, for preconditioning a lateral airbag algorithm, ie either early lowering of the trigger thresholds or an early plausibility check prior to contact on the basis of the sensor information, and / or triggering a reversible and or irreversible actuator of an occupant protection system, such as activation of a reversible belt tensioner, an active pneumatic or hydraulic seat, and / or for activation of a reversible and / or irreversible adaptive vehicle structure, such as
  • the information output by the evaluation and control unit to at least one vehicle safety system about detected objects can be used for blind spot monitoring and / or for the detection of laterally crossing objects.
  • the information can be used to detect objects in the blind spot at speeds of over 60km / h or when turning in the blind spot
  • Stand range can be used at speeds ranging from 0 to 60kmlh. In the city area in particular cyclists and pedestrians should be recognized. In both applications, the sensor arrangement also monitors whether objects enter the blind spot from behind and whether an object is actually located laterally in this area. By recognizing laterally crossing objects in the rear area, a warning can be issued, in particular when reversing outward parking, if a laterally
  • the output from the evaluation and control unit to at least one driver assistance system information regarding the detected objects for centering the vehicle between two detected objects during a parking operation and / or at Driving on a narrowed roadway will be used.
  • the centering of the vehicle between two detected objects is carried out, for example, by issuing correction instructions to the driver, for example by steering arrows in a display, or by an automatic steering intervention in a network with the steering system.
  • the rear side sensor units may measure and output the lateral distance.
  • narrow lanes for example in construction sites, or in dense motorway traffic, all four sensor units can be used to determine the distance to lateral objects at high speeds and to provide appropriate correction recommendations or steering assistance.
  • the information output by the evaluation and control unit to at least one driver assistance system with respect to the detected objects for performing a door and / or flap opening function can be used.
  • the user can be warned when detected objects in the opening area of a vehicle door by issuing a warning and / or the door opening can be blocked.
  • a first level warns and in a second step the door is locked in order to avoid minor damage.
  • the door can be released again when the obstacle has disappeared.
  • the door can be briefly blocked when approaching from behind a slow vehicle or a bicycle to avoid minor damage or a fall of the cyclist by a careless torn door.
  • a fuel filler flap can be opened automatically when a movement of a fuel filler neck in the direction of the fuel filler flap is detected.
  • FIG. 1 shows a schematic plan view of a vehicle with an embodiment of a device according to the invention for lateral environmental monitoring of a vehicle.
  • FIG. 2 shows a schematic plan view of a vehicle with a further exemplary embodiment of the device according to the invention for lateral monitoring of the surroundings of a vehicle.
  • FIG. 3 shows a schematic plan view of a vehicle with a further exemplary embodiment of the device according to the invention for lateral monitoring of the surroundings of a vehicle.
  • FIG. 4 shows a schematic plan view of a vehicle with an exemplary embodiment of the device according to the invention for the lateral monitoring of the surroundings of a vehicle during a reverse parking operation.
  • FIG. 5 shows a schematic plan view of a vehicle with an exemplary embodiment of the device according to the invention for the lateral monitoring of the surroundings of a vehicle during passing through a lane narrowing.
  • FIGS. 1 to 5 each show a motor vehicle 1 with a device according to the invention for lateral monitoring of the surroundings of a vehicle, which comprises an evaluation and control unit 10 and a plurality of prospective sensor units 22, 24, 26, 28.
  • the evaluation and control unit 10 at least one interface 12, 14, 16, 18, which receives signals from the at least one predictive sensor unit 22, 24, 26, 28, and a computing unit 15, which with the at least one interface 12, 14, 16, 18 and signals from the at least one prospective sensor unit 22, 24, 26, 28 for detecting an object H1, H2, H3 in a lateral monitoring area 2, 4, 6, 8 and for detecting information about the detected Object H1, H2, H3 evaluates.
  • the prospective sensor units 22, 24, 26, 28 are low-cost sensor units, for example in the form of one-chip radar sensors, executed.
  • at least two prospective sensor units 22, 24, 26, 28 are arranged at a distance from one another on each vehicle side and have overlapping monitoring areas 2, 4, 6, 8.
  • the forward-looking sensor units 22, 24, 26, 28 each have a range in the range of approximately 2 to 10 m and a wide aperture angle ⁇ in the range of 120 to 170 ° and are sampled at a data rate of approximately 1 to 2 kHz.
  • the forward-looking sensor units 22, 24, 26, 28, which are designed as single-chip radar sensors, are arranged on each side of the vehicle in the region of the C pillar and in the region of the A pillar.
  • the forward-looking sensor units 22, 24 are each arranged in the rear side of the vehicle area in the region of the C-pillars, and the forward-looking sensor units 26, 28 are each arranged in the front vehicle side area in the region of the A-pillars.
  • the illustrated in Fig. 1 to 3 various embodiments of the device according to the invention for the lateral environment monitoring of a vehicle 1 differ in the orientation of the predictive sensor units 22, 24, 26, 28th
  • all the forward-looking sensor units 22, 24, 26, 28 are arranged such that the main receiving directions HAR of the forward-looking sensor units 22, 24, 26, 28 are aligned perpendicular to the vehicle longitudinal axis FLA.
  • the illustrated lateral overlapping monitoring areas 2, 4, 6, 8 result.
  • the two rear, forward-looking sensor units 22, 24 are arranged such that their main receiving directions HAR are inclined backwards by a predeterminable angle a1 against the vehicle longitudinal axis FLA.
  • the two forward-looking sensor units 22, 24, 26, 28 are, analogously to the exemplary embodiment according to FIG. 1, arranged unchanged such that their main receiving directions HAR are aligned perpendicular to the vehicle longitudinal axis FLA.
  • the illustrated lateral overlapping monitoring areas 2 ', 4', 6, 8 result.
  • the two rear prospective sensor units 22, 24 are analogous to the embodiment shown in FIG. 2 so arranged that their Stilaufnahichtichtitch HAR are tilted by a predetermined angle a1 backwards against the vehicle longitudinal axis FLA.
  • the two forward-looking sensor units 22, 24, 26, 28, however, are arranged so that their Stilaufnah- seal HAR by a predetermined angle a2 forward against the
  • Vehicle longitudinal axis FLA are inclined.
  • the computing unit 15 calculates, for example, the position and / or the distance A1, A2 for each object H1, H2, H3 detected in the lateral monitoring areas 2, 2 ', 4, 4', 6, 6 ', 8, 8' , A31, A32 and / or the approach speed with respect to the vehicle 1.
  • the evaluation and control unit 10 is the calculated by the computing unit 15 information regarding the detected objects H1, H2, H3 via at least one other interface not shown to at least one vehicle safety system and / or at least one driver assistance system.
  • the calculated information may be used to precondition a side airbag algorithm, i. either early lowering of the
  • Tripping thresholds or early plausibility check prior to contact based on the sensor information to trigger a reversible actuator prior to contact in the event of a side collision e.g. Activation of a reversible belt tensioner, an active pneumatic or hydraulic seat, etc., for activating a reversible or irreversible adaptive vehicle structure, such as e.g.
  • Cyclists when turning in the stationary area at speeds in the range of 0 to 60km / h and for the detection of laterally crossing objects in the
  • the information output by the evaluation and control unit 10 to at least one driver assistance system regarding the detected objects H1, H2, H3 can be used to perform a door and / or flap opening function.
  • the user can be warned by issuing a warning and / or the door opening can be blocked.
  • a fuel filler flap can be opened automatically if a movement of a fuel filler neck in the direction of the fuel filler flap is detected.
  • 4 shows a schematic representation of a function for the automatic centering aid when reverse parking. To assist in this function, the rear lateral sensor units 22, 24 measure the lateral distance A1, A2 to the vehicles H1, H2 and the centering assistance function gives either one
  • Fig. 5 shows a schematic representation of a function for automatic centering while driving through a bottleneck.
  • all lateral sensor units 22, 24, 26, 28 measure the lateral distance A1, A2 to the vehicles H1, H2 and the lateral distance A31, A32 to the obstacle H3, here for example a construction site boundary.
  • the centering assistance function either gives a correction instruction to the driver or supports the centering of the vehicle between the obstacles H1, H2 and H3 about an intervention in the steering system.
  • these arrows can also be represented by different colors to improve the warning effect.
  • their distance from one another and from this their distance MA1, MA2 and MA3 to the ideal center line ML can be calculated.
  • the distances MA1, MA2, MA3 and the center line ML can also be displayed.
  • the vehicle longitudinal axis FLA can then be aligned with the own vehicle 1 while driving through the constriction.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Data Mining & Analysis (AREA)
  • Computational Linguistics (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif de surveillance de l'environnement latéral d'un véhicule (1), comprenant une unité d'analyse et de commande (10) et au moins une unité de détection par anticipation (22, 24, 26, 28), ladite unité d'analyse et de commande (10) comportant au moins une interface (12, 14, 16, 18) qui reçoit des signaux de la au moins une unité de détection par anticipation (22, 24, 26, 28) et une unité de calcul (15) qui est accouplé à la au moins une interface (12, 14, 16, 18) et qui analyse des signaux de la au moins une unité de détection par anticipation (22, 24, 26, 28) afin de permettre la détection d'un objet se trouvant dans une zone de surveillance latérale (2, 4, 6, 8) et de déceler des informations concernant cet objet. Selon l'invention, la au moins une unité de détection par anticipation (22, 24, 26, 28) est un modèle d'unité de détection à faible coût, au moins deux unités de détection par anticipation étant disposées, de façon espacée, sur chaque côté du véhicule et présentant des zones de surveillance (2, 4, 6, 8) qui se chevauchent.
EP11726741.9A 2010-06-08 2011-06-06 Dispositif de surveillance de l'environnement latéral d'un véhicule Withdrawn EP2580098A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010029780A DE102010029780A1 (de) 2010-06-08 2010-06-08 Vorrichtung zur seitlichen Umfeldüberwachung eines Fahrzeugs
PCT/EP2011/059263 WO2011154345A1 (fr) 2010-06-08 2011-06-06 Dispositif de surveillance de l'environnement latéral d'un véhicule

Publications (1)

Publication Number Publication Date
EP2580098A1 true EP2580098A1 (fr) 2013-04-17

Family

ID=44526463

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11726741.9A Withdrawn EP2580098A1 (fr) 2010-06-08 2011-06-06 Dispositif de surveillance de l'environnement latéral d'un véhicule

Country Status (5)

Country Link
US (1) US20130085975A1 (fr)
EP (1) EP2580098A1 (fr)
CN (1) CN103038115A (fr)
DE (1) DE102010029780A1 (fr)
WO (1) WO2011154345A1 (fr)

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Also Published As

Publication number Publication date
WO2011154345A1 (fr) 2011-12-15
CN103038115A (zh) 2013-04-10
US20130085975A1 (en) 2013-04-04
DE102010029780A1 (de) 2011-12-22

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