EP3133573B1 - Système et procédé d'avertissement de collision - Google Patents

Système et procédé d'avertissement de collision Download PDF

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Publication number
EP3133573B1
EP3133573B1 EP15182052.9A EP15182052A EP3133573B1 EP 3133573 B1 EP3133573 B1 EP 3133573B1 EP 15182052 A EP15182052 A EP 15182052A EP 3133573 B1 EP3133573 B1 EP 3133573B1
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European Patent Office
Prior art keywords
vehicle
distance
warning signal
velocity
collision
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EP15182052.9A
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German (de)
English (en)
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EP3133573A1 (fr
Inventor
Adam ROHRBACHER
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Harman Becker Automotive Systems GmbH
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Harman Becker Automotive Systems GmbH
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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.
  • Document DE 199 33 782 A1 discloses a method for avoiding rear-end collisions.
  • a first vehicle monitors its rearward area and determines its own speed, the speed of a successive vehicle and a distance between the two vehicles. If a hazardous situation is detected, an optical or acoustical signal is generated to warn the driver of the successive vehicle.
  • a hazardous situation is detected, for example, when the time interval until a presumable collision might happen falls below a threshold value.
  • Document US 2014/0049384 A1 discloses a method for warning a following motor vehicle through a motor vehicle travelling ahead, in which a distance between the motor vehicle travelling ahead and the motor vehicle following is measured and compared with a safety distance, which is dependent on a travelled speed of the motor vehicle travelling ahead and when the measured distance undershoots this safety distance, a warning signal is emitted by the motor vehicle travelling ahead to the following motor vehicle.
  • Document US 2006/0164221 A1 discloses a method for reducing the occurrence and severity of rear-end vehicle collisions.
  • Two or more sensors are located on the front of or forward facing of the lead vehicle and on the rear of or rearward facing of the lead vehicle so as to provide data and information to a controller that processes the sensor information and generates signals to one or more light-emitting mechanisms mounted on or facing rearward of the lead vehicle that emit caution light to warn the driver of the following vehicle about the speed, distance, presence, approach, or other characteristics of nearby vehicles located behind, in front of, and including the lead vehicle.
  • Document DE 10 2012 219 572 A1 discloses an apparatus for a vehicle for presenting information to a following vehicle.
  • the apparatus may be mounted at the rear or the side of the vehicle and is configured to present simple warning signs or even complex messages.
  • the messages appear to be closer to the following vehicle than the vehicle driving in front.
  • the distance from the vehicle driving in front from which the message is presented to the driver of the following vehicle may be dependent on the distance between the vehicles or on a deceleration of the vehicle driving in front.
  • Sensor monitor the surrounding traffic and determine what might happen in the near future.
  • 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.
  • the warning signal includes a visual warning signal that is projected onto the driving surface between the first vehicle and the second vehicle at a display distance behind the first vehicle, wherein the display distance is variable depending on the velocity of the first vehicle, the velocity of the second vehicle and the acceleration of the second vehicle, and corresponds to a distance between the first vehicle and the second vehicle at which a collision may still be prevented by the driver of the second vehicle by performing a braking maneuver.
  • 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.
  • the warning signal includes a visual warning signal that is projected onto the driving surface between the first vehicle and the second vehicle at a display distance behind the first vehicle, and the display distance is variable depending on the velocity of the first vehicle, the velocity of the second vehicle, and the acceleration of the second vehicle and corresponds to a distance between the first vehicle and the second vehicle at which a collision may still be prevented by the driver of the second vehicle by performing a braking maneuver.
  • 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 ( ⁇ t 2) - 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 t SOS 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.
  • ⁇ t 3 - x ref 0. It follows that t SOS 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.
  • 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)

Claims (14)

  1. Procédé d'avertissement de collision, le procédé comprenant :
    la détermination d'une valeur de danger (x(Δt)) qui indique une collision potentielle d'un premier véhicule (10) et d'un second véhicule (11) ; et
    la génération, par le premier véhicule, d'un signal d'avertissement, si la valeur de danger (x(Δt)) franchit un seuil prédéfini (xref), dans lequel
    la valeur de danger (x(Δt)) est déterminée par le premier véhicule (10),
    le signal d'avertissement est perceptible par un conducteur du second véhicule (11),
    le signal d'avertissement comprend un signal d'avertissement visuel qui est projeté sur la surface de conduite entre le premier véhicule (10) et le second véhicule (11) à une distance d'affichage (dCW(Δt)) derrière le premier véhicule (10), et
    la distance d'affichage (dCW(Δt)) est variable en fonction de la vitesse du premier véhicule (10), de la vitesse du second véhicule (11) et de l'accélération du second véhicule (11) et correspond à une distance entre le premier véhicule (10) et le second véhicule (11) à laquelle une collision peut encore être évitée par le conducteur du second véhicule (11) en effectuant une manœuvre de freinage.
  2. Procédé selon la revendication 1, dans lequel le second véhicule (11) roule derrière le premier véhicule (10) dans la même direction.
  3. Procédé selon la revendication 1 ou 2, dans lequel la valeur de danger (x(Δt)) dépend d'au moins une valeur parmi une distance entre le premier véhicule (10) et le second véhicule (11),
    une vitesse du premier véhicule (10),
    une vitesse du second véhicule (11), et
    une accélération du second véhicule (11).
  4. Procédé selon l'une quelconque des revendications 1 à 3, dans lequel la valeur de danger (x(Δt)) est prédite de manière constante pour au moins un point futur dans le temps (t0 + Δt1, t0 + Δt2, t0 + Δtn).
  5. Procédé selon l'une quelconque des revendications précédentes, comprenant en outre la détermination de la valeur de danger (x(Δt)) comme un rapport d'un carré estimé de la différence des vitesses du premier véhicule (10) et du second véhicule (11) à une distance restante pré-estimée entre le premier véhicule (10) et le second véhicule (11).
  6. Procédé selon l'une quelconque des revendications précédentes, dans lequel le signal d'avertissement comprend en outre un signal d'avertissement audible.
  7. Procédé selon l'une quelconque des revendications 1 à 6, dans lequel la distance d'affichage dépend en outre d'une distance entre le premier véhicule (10) et le second véhicule (11).
  8. Procédé selon l'une quelconque des revendications 1 à 7, dans lequel le signal d'avertissement est projeté dans une première couleur, la couleur dépendant de la valeur de danger (x(Δt)).
  9. Procédé selon l'une quelconque des revendications 1 à 8, dans lequel le signal d'avertissement comprend au moins un élément parmi
    une ligne d'avertissement de collision,
    une icône,
    un texte et
    une illustration.
  10. Procédé selon l'une quelconque des revendications précédentes, comprenant en outre la définition du seuil qui dépend d'au moins une valeur parmi
    une distance entre le premier véhicule (10) et le second véhicule (11),
    une vitesse du premier véhicule (10),
    une vitesse du second véhicule (11),
    une accélération du second véhicule (11),
    des performances de freinage attendues du second véhicule (11), et
    une distance de freinage estimée du second véhicule (11).
  11. Programme-programme informatique qui, lorsqu'il est exécuté sur un ordinateur, amène l'ordinateur à mettre en œuvre le procédé selon l'une quelconque des revendications 1 à 10.
  12. Système d'avertissement de collision comprenant
    une unité de détermination (51) dans un premier véhicule (10), l'unité de détermination (51) étant conçue pour déterminer une valeur de danger (x(Δt)) qui indique une collision potentielle du premier véhicule (10) et d'un second véhicule (11) ; et
    une unité de signalisation (52) dans le premier véhicule (10), l'unité de signalisation (52) étant conçue pour générer un signal d'avertissement, si la valeur de danger (x(Δt)) franchit un seuil prédéfini (xref), dans lequel
    le signal d'avertissement est perceptible par un conducteur du second véhicule (11),
    le signal d'avertissement comprend un signal d'avertissement visuel qui est projeté sur la surface de conduite entre le premier véhicule (10) et le second véhicule (11) à une distance d'affichage (dCW(Δt)) derrière le premier véhicule (10), et
    la distance d'affichage (dCW(Δt)) est variable en fonction de la vitesse du premier véhicule (10), de la vitesse du second véhicule (11) et de l'accélération du second véhicule (11) et correspond à une distance entre le premier véhicule (10) et le second véhicule (11) à laquelle une collision peut encore être évitée par le conducteur du second véhicule (11) en effectuant une manœuvre de freinage.
  13. Système d'avertissement de collision selon la revendication 12, comprenant en outre une unité de détection (53), qui est conçue pour détecter au moins une valeur parmi
    une distance entre le premier véhicule (10) et le second véhicule (11),
    une vitesse du premier véhicule (10),
    une vitesse du second véhicule (11), et
    une accélération du second véhicule (11).
  14. Système d'avertissement de collision selon la revendication 13, dans lequel l'unité de détection (53) comprend un capteur comprenant un appareil photographique ou une caméra vidéo, un radar, un laser, un capteur infrarouge ou un capteur ultrasonore.
EP15182052.9A 2015-08-21 2015-08-21 Système et procédé d'avertissement de collision Active EP3133573B1 (fr)

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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
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
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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