EP3133573A1 - System und verfahren zur kollisionswarnung - Google Patents

System und verfahren zur kollisionswarnung Download PDF

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Publication number
EP3133573A1
EP3133573A1 EP15182052.9A EP15182052A EP3133573A1 EP 3133573 A1 EP3133573 A1 EP 3133573A1 EP 15182052 A EP15182052 A EP 15182052A EP 3133573 A1 EP3133573 A1 EP 3133573A1
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EP
European Patent Office
Prior art keywords
vehicle
warning signal
velocity
distance
collision
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.)
Granted
Application number
EP15182052.9A
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English (en)
French (fr)
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EP3133573B1 (de
Inventor
Adam ROHRBACHER
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.)
Harman Becker Automotive Systems GmbH
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Harman Becker Automotive Systems GmbH
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Priority to EP15182052.9A priority Critical patent/EP3133573B1/de
Publication of EP3133573A1 publication Critical patent/EP3133573A1/de
Application granted granted Critical
Publication of EP3133573B1 publication Critical patent/EP3133573B1/de
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • 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

Definitions

  • the disclosure relates to a system and a method for collision warning, in particular for a rear-end collision warning system in vehicles.
  • All vehicles today are equipped with brake lights, which provide a very simple collision warning system.
  • the brake lights light up when the brake is applied.
  • the driver of a successive car is thereby informed that the vehicle travelling in front is reducing its speed.
  • the driver of the successive car then needs to estimate the speed and deceleration of the vehicle travelling in front, the remaining distance between the vehicles and the risk of a collision, for example, in order to avoid a collision.
  • the method described herein includes the following procedures: determining a danger value which is indicative of a potential collision of a first vehicle and a second vehicle; and generating a warning signal, if the danger value crosses a predefined threshold, wherein the danger value is determined by the first vehicle and the warning signal is perceivable to a driver of the second vehicle.
  • a collision warning system comprises: a determination unit in a first vehicle, the determination unit being configured to determine a danger value which is indicative of a potential collision of the first vehicle and a second vehicle; and a signal unit in the first vehicle, the signal unit being configured to generate a warning signal, if the danger value crosses a predefined threshold, wherein the warning signal is perceivable to a driver of the second vehicle.
  • a first vehicle 100 is driving on a road in a first direction.
  • a second vehicle 110 is driving on the same road behind the first vehicle 100 in the same direction.
  • the second vehicle 110 may have the same velocity as the first vehicle 100 or may be slower or faster than the first vehicle 100. If the second vehicle 110 is at a certain distance from the first vehicle 100 and has the same velocity or is slower than the first vehicle 100, there is generally no risk for a collision of the two vehicles 100, 110. If the second vehicle 110 is faster than the first vehicle 100 and the distance between the two vehicles 100, 110 falls below a certain value, there is an increased risk for a collision.
  • the first vehicle 100 may determine the risk for a collision and, if there is an increased risk for a collision, the first vehicle 100 may generate a warning signal which is perceivable to the driver of the second vehicle 110.
  • a danger value may be determined which is indicative of a potential collision of the first vehicle 100 and the second vehicle 110.
  • the danger value may be proportional to the distance between the first vehicle 100 and the second vehicle 110, for example.
  • a warning signal may then be generated if the distance, and therefore the danger value, falls below a certain threshold.
  • the threshold may be dependent on a velocity of the first vehicle 100 and/or the second vehicle 110, as the braking distance generally depends on the velocity of a vehicle. For example, the threshold may have a higher value, if the velocity of the vehicles 100, 110 is high, meaning that a warning signal will be generated earlier when the distance between the vehicles 100, 110 is still rather long.
  • the threshold may have a lower value, if the velocity of the vehicles 100, 110 is low, meaning that a warning signal will be generated later when the distance between the vehicles 100, 110 is shorter.
  • the danger value may not only depend on the distance between the vehicles, but also on the velocity and/or an acceleration of one or both of the vehicles.
  • the danger value may be determined for a present point of time t0 or may be predicted for a future point of time t0 + ⁇ t, based on current parameters.
  • the danger value may be determined as a ratio of an estimated square of the velocity difference of the vehicles 100, 110 to a doubled pre-estimated remaining distance between the vehicles 100, 110 after a certain time period ⁇ t. Doubling the weight of the pre-estimated remaining distance results in a physically correct function, which allows to determine a necessary pre-estimated deceleration (negative acceleration), that the second vehicle 110 needs to perform in order to avoid a collision with the first vehicle 100.
  • v B(t0) being the velocity of the second vehicle 110 at a first time instant t0
  • v A(t0) being the velocity of the first vehicle 100 at the first time instant t0
  • a B(t0) being the acceleration of the second vehicle 110 at the first time instant t0
  • d AB(t0) being the distance between the first vehicle 100 and the second vehicle 110 at the first time instant t0.
  • the acceleration a B(t0) of the second vehicle 110 may be positive (second vehicle is gaining speed) or negative (second vehicle is reducing speed/breaking).
  • Equation (1) may be altered by further taking into consideration the acceleration (or deceleration) a A(t0) of the first vehicle 100. This results in a higher sensitivity of the calculation, which may result in an earlier (or later) generation of the warning signal.
  • the acceleration a A(t0) of the first vehicle 100 is not considered in equation (1) above.
  • any other values may be selected for the time period ⁇ t.
  • the danger value x( ⁇ t) is determined using equation (1), then a collision of the two vehicles 100, 110 is more likely, the higher the danger value x( ⁇ t). For example, if the danger value x( ⁇ t) is high at a time instant t0 + ⁇ t, the velocity of the second vehicle 110 needs to be reduced more severely. If, on the other hand, the danger value x( ⁇ t) at time instant t0 + ⁇ t is low, a relatively slow reduction of the velocity of the second vehicle 110 might be sufficient to prevent a collision.
  • the warning signal may be a warning signal which is audible to the driver of the second vehicle 110.
  • the horn of the first vehicle 100 may be activated. This is, however, only an example. Any other audible warning signal may be generated, such as a siren, buzzer, beeper, chime or chirp, for example, which can be heard by the driver of the second vehicle 110. These are, however, only non-limiting examples.
  • the warning signal may be a visual warning signal 120 visible for the driver of the second vehicle 110, for example.
  • a visual warning signal may be activated instead or additionally to an audible warning signal.
  • the visual warning signal 120 may be a visible line that is projected onto the driving surface. This visible line may be red, for example, as red is the traditional color of warning and danger. This is, however, only an example.
  • a line projected onto the driving surface may have any color or may change its color depending on the criticality of the situation. For example, the color may change from yellow to red, as the distance between the vehicles 100, 110 decreases and a collision of the vehicles 100, 110 becomes more likely.
  • Such a visible line may be projected onto the driving surface using a laser or any other suitable projection device.
  • a first condition illustrated in Figure 2A .
  • no warning signal is generated. This is, for example, if the situation is classified as noncritical.
  • the situation may be classified as noncritical, if the distance d AB between the vehicles 200, 210 exceeds a certain value and/or the second vehicle 210 is driving at a slower or at the same velocity as the first vehicle 200. In such a case the second vehicle 210 does not draw nearer to the first vehicle 200 and there is no potential risk of a collision.
  • the danger value x( ⁇ t) is determined according to equation (1) for three different time instances t0 + ⁇ t1, t0 + ⁇ t2, t0 + ⁇ t3, it may be below a certain threshold X ref for all predicted time instances t0 + ⁇ t1, t0 + ⁇ t2, t0 + ⁇ t3, such that x ( ⁇ t 1) - x ref ⁇ 0, x ( ⁇ t 2 ) - x ref ⁇ 0 and x ( ⁇ t 3) - x ref ⁇ 0.
  • the danger value x( ⁇ t) may fall below the threshold for one of the predicted time instances, such that x ( ⁇ t 1) - x ref ⁇ 0, x ( ⁇ t2 ) - x ref ⁇ 0 and x ( ⁇ t 3) - x ref > 0. This may be because the second vehicle 210 is moving faster than the first vehicle 200 and the distance d AB between the second vehicle 210 and the first vehicle 200 falls below a predetermined value. The situation may be classified as dangerous and a warning signal 220 may be generated.
  • the danger value x( ⁇ t) in a third condition may fall below the threshold for even more of the predicted time instances, such that x ( ⁇ t 1) - x ref ⁇ 0, x ( ⁇ t 2) - x ref > 0 and x ( ⁇ t 3) - x ref > 0.
  • the warning signal 220 that is generated in the third condition may be different from the warning signal 220 that is generated in the second condition. This may be to increase the warning effect of the warning signal. For example, the warning signal 220 may change its color or may begin to flash.
  • the third condition may be classified as a very dangerous traffic situation, for example.
  • a fourth condition is illustrated.
  • the second vehicle 210 may still be moving faster than the first vehicle 200 and the remaining distance d AB between the vehicles 200, 210 may be dangerously short, such that x ( ⁇ t 1) - x ref > 0, x ( ⁇ t 2) - x ref > 0 and x ( ⁇ t 3) - x ref > 0.
  • the warning signal 220 that is generated in the fourth condition may again be different from the warning signal 220 that is generated in the second or third condition to further increase the warning effect of the warning signal 220.
  • the warning signal 220 may again change its color or may flash faster.
  • the brake lights 230 of the first vehicle 200 may begin to flash simultaneously and the cars horn may be activated.
  • the fourth condition may be classified as a highly dangerous traffic situation, for example.
  • the threshold X ref may be chosen to be any other lower or higher value. The braking distance of a motor truck at the same velocity is significantly longer.
  • a collision warning system may include a detection system, which is configured to detect whether a motor vehicle or a motor truck is driving behind the first vehicle 200.
  • the threshold X ref may then be adapted accordingly, depending on whether a motor truck or a motor vehicle is detected.
  • the front surface size of the second vehicle 210 may be measured, using a radar or any other suitable detection system.
  • the front size of a motor truck is generally larger than the front size of a motor vehicle.
  • a visual warning signal may be implemented in different ways.
  • the warning signal may be a single collision warning line that is projected onto the driving surface between the first vehicle and the second vehicle.
  • the collision warning line may be projected at a display distance d CW ( ⁇ t) behind the first vehicle, as is illustrated in Figure 2 .
  • the display distance d CW ( ⁇ t) may be determined in any suitable way.
  • ⁇ t SOS being a pre-estimated remaining period starting at t0, which indicates a predicted time span after which the danger value x( ⁇ t) will reach the threshold x ref , if the conditions do not change.
  • the remaining period tsos may be constantly calculated, considering the respective parameters, sampled at each sampling instant.
  • the display distance d CW ( ⁇ t) corresponds to the distance at which the driver of the second vehicle 210 still has time ⁇ t left until a hard braking maneuver is necessary to prevent a collision with the first vehicle 200.
  • the display distance d CW ( ⁇ t) may be determined continuously.
  • a first warning level (e.g. generating a single collision warning line) is activated if x ( ⁇ t 3) - x ref > 0. It follows that tsos is less than ⁇ t3 from that time instance t0.
  • the display distance d CW ( ⁇ t) of the collision warning line 220 is variable depending on the velocity of the vehicles 200, 210 and the acceleration of the second vehicle 210.
  • the collision warning line 220 provides an intuitive feedback for the driver of the second vehicle 210. If the driver of the second vehicle 210 does not decelerate sufficiently, the second vehicle 210 will get closer and closer to the collision warning line 220. If the second vehicle 210 decelerates sufficiently, the second vehicle 210 will recede from the collision warning line 220 until, finally, a safe distance is reached at which no warning signal is generated (as is illustrated in Figure 1 ).
  • the collision warning line 220 may be projected directly in front of the second vehicle 210 in the fourth condition, irrespective of the determined display distance d CW ( ⁇ t). The position of the collision warning line 220 may then only be dependent on the position of the second vehicle 210.
  • the warning signal 220 may be a single collision warning line as is illustrated by means of Figures 1 and 2 as well as Figure 3A . This, however, is only an example.
  • the warning signal may also include more than one line. This is illustrated by means of Figure 3B .
  • the warning signal may additionally include writing as well as signs, icons or illustrations. It is also possible that the warning signal includes only writing, only icons or only signs, for example.
  • the brake lights of the first vehicle 200 may begin to flash, if the danger value x( ⁇ t) crosses the predefined threshold x ref , as has already been explained by means of Figure 2D .
  • the brake lights of the first vehicle 200 may flash irrespective of whether the brake is pressed or not.
  • a collision warning line 320a may be visible at a display distance d CW ( ⁇ t1) from the first vehicle 300.
  • An additional second line 320b may be displayed directly in front of the second vehicle 310.
  • the second line 320b may, for example, be displayed during a highly dangerous traffic situation. Projecting two different lines 320a, 320b may illustrate more clearly that the second vehicle 310 is closing in on the first vehicle 300, as the driver of the second vehicle 310 can see the two lines 320a, 320b closing in on each other.
  • a method for collision warning includes determining a danger value, which is indicative of a potential collision of a first vehicle and a second vehicle (step 401).
  • the danger value may be determined constantly by the first vehicle. If the danger value crosses a predefined threshold (step 402), a warning signal is generated (step 403).
  • the warning signal may be perceivable to a driver of the second vehicle, as has already been described above.
  • a collision warning system includes a calculating unit 510.
  • the calculating unit 510 is configured to determine a danger value, which is indicative of a potential collision of a first vehicle and a second vehicle.
  • the collision warning system further includes a signal unit 520, which is configured to receive the danger value and to generate a warning signal, if the danger value crosses a predefined threshold.
  • the danger value may be dependent on a distance between the first vehicle and the second vehicle, a velocity of the first vehicle, a velocity of the second vehicle and/or an acceleration of the second vehicle, for example.
  • the collision warning system therefore, may further include a detection unit 530, which is configured to detect parameters of the first and/or the second vehicle.
  • any suitable proximity sensor may be used.
  • a Doppler effect e.g. radar
  • laser e.g. infrared
  • photoelectric e.g. infrared
  • ultrasound sensor e.g., ultrasonic sensors
  • the signal unit 520 does not need to be permanently active. Rather, a warning signal may be displayed only when a situation is classified as dangerous. In this way, traffic participants do not easily grow accustomed to the system. Drivers might more easily get used to a pure distance warning system which constantly displays information concerning a distance between successive vehicles. Drivers might be more likely to ignore displays that are constantly presented. As the collision warning system is intended to become active selectively, it is noticed as an unusual event by traffic participants and stimulates the traffic participants to evaluate a current situation. The collision warning line as has been explained above provides a temporal preview of what might happen if the distance between the vehicles is not increased.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
EP15182052.9A 2015-08-21 2015-08-21 System und verfahren zur kollisionswarnung Active EP3133573B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15182052.9A EP3133573B1 (de) 2015-08-21 2015-08-21 System und verfahren zur kollisionswarnung

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Application Number Priority Date Filing Date Title
EP15182052.9A EP3133573B1 (de) 2015-08-21 2015-08-21 System und verfahren zur kollisionswarnung

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EP3133573A1 true EP3133573A1 (de) 2017-02-22
EP3133573B1 EP3133573B1 (de) 2020-01-08

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109215389A (zh) * 2017-06-29 2019-01-15 国基电子（上海）有限公司 车距校正方法、电子装置及计算机可读存储介质
CN114333416A (zh) * 2021-12-24 2022-04-12 阿波罗智能技术(北京)有限公司 基于神经网络的车辆风险预警方法、设备及自动驾驶车辆
CN114937361A (zh) * 2022-05-19 2022-08-23 广州市粤迅特数码技术有限公司 一种城市交通服务系统及操作方法
CN115472040A (zh) * 2022-08-31 2022-12-13 东南大学 基于碰撞概率场的网联车辆个性化防碰撞预警方法

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US5923443A (en) * 1996-01-16 1999-07-13 Nokia Mobile Phones Limited Infrared communication port fax software legacy flow control emulation
DE19933782A1 (de) * 1999-07-19 2001-01-25 Volkswagen Ag Verfahren zur Vermeidung von Auffahrunfällen sowie Vorrichtung zur Ausführung des Verfahrens
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109215389A (zh) * 2017-06-29 2019-01-15 国基电子（上海）有限公司 车距校正方法、电子装置及计算机可读存储介质
CN109215389B (zh) * 2017-06-29 2021-09-10 国基电子（上海）有限公司 车距校正方法、电子装置及计算机可读存储介质
CN114333416A (zh) * 2021-12-24 2022-04-12 阿波罗智能技术(北京)有限公司 基于神经网络的车辆风险预警方法、设备及自动驾驶车辆
CN114937361A (zh) * 2022-05-19 2022-08-23 广州市粤迅特数码技术有限公司 一种城市交通服务系统及操作方法
CN114937361B (zh) * 2022-05-19 2024-05-28 广州新致信息科技有限公司 一种城市交通服务系统及操作方法
CN115472040A (zh) * 2022-08-31 2022-12-13 东南大学 基于碰撞概率场的网联车辆个性化防碰撞预警方法
CN115472040B (zh) * 2022-08-31 2023-11-07 东南大学 基于碰撞概率场的网联车辆个性化防碰撞预警方法

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