EP3197736A1 - Friction-coefficient-dependent collision avoidance system - Google Patents

Friction-coefficient-dependent collision avoidance system

Info

Publication number
EP3197736A1
EP3197736A1 EP15767181.9A EP15767181A EP3197736A1 EP 3197736 A1 EP3197736 A1 EP 3197736A1 EP 15767181 A EP15767181 A EP 15767181A EP 3197736 A1 EP3197736 A1 EP 3197736A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
database
collision
coefficient
friction
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Withdrawn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
EP15767181.9A
Other languages
German (de)
French (fr)
Inventor
Stefan Hegemann
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.)
Conti Temic Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3197736A1 publication Critical patent/EP3197736A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2900/00—Indexing codes relating to the purpose of, or problem solved of road vehicle drive control systems not otherwise provided for in groups B60W30/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • the invention relates to a method for adapting a collision warning system, a control device for carrying out the method and a vehicle with the control device.
  • a collision avoidance system in the form of a collision warning system is known from DE 10 2012 000 949 A1, in which the driver of a vehicle is warned in the event of a collision hazard in order to avoid the collision.
  • the specified method is based on the consideration that the threshold distance, from which the collision with the obstacle threatens, is a braking distance of the vehicle, within which the vehicle can be brought to a halt, without encountering the obstacle.
  • This braking distance is partly determined by the coefficient of friction of the depending on which the vehicle is worn.
  • the coefficient of friction can change and is not the same everywhere.
  • a fixed value could be used. The problem here is that then either not all collisions can be avoided, for example on ver ⁇ eested substrates, if the fixed value for the coefficient of friction is too high or that the collision avoidance system intervenes too often, for example, when the ground is dry and so has a high coefficient of friction.
  • the specified method attacks with the proposal to record the coefficient of friction of the substrate and to adjust or adjust the threshold distance as a function of the detected friction coefficient.
  • the collision avoidance system can be adapted to different states differently respond to po ⁇ tentielle collisions and avoid these reliable.
  • the friction coefficient can be detected arbitrarily.
  • the most practical of these is a database which contains the coefficient of friction of the substrate at various positions.
  • the database has the function of a map on which the coefficients of friction of a road are deposited as background on individual road sections and stored.
  • the database can be stored at any point that is accessible to the vehicle information technology. So it would be possible to deposit the database in the vehicle itself, but also in a network that can access the vehicle. A combination is also possible, such as a local database in the vehicle, which is then updated at regular intervals from the global database.
  • the vehicle can position itself, for example, via a global navigation satellite system and then retrieve the coefficient of friction from the database based on the detected position.
  • the specified method comprises the steps
  • the information influencing the coefficient of friction in the further database can be any information which is suitable for concretizing the friction coefficient of the substrate.
  • this may include weather data indicating whether the ground may be rainy or even icy.
  • the information influencing the friction coefficient in the further database can be information which influences the friction coefficient on the vehicle.
  • vehicle data such as, for example, the material of the wheels, their coefficient of friction or chassis properties can be stored in the database, by means of which the resulting friction coefficient between the ground and the vehicle can be estimated as precisely as possible.
  • the specified method in a development comprises the step of updating the friction coefficient retrieved from the database based on at least one sensor information.
  • This sensor information can be configured as desired. In any case, it is advantageous if both information from a database and local sensor information are combined. be evaluated to determine the highest possible coefficient of friction.
  • the sensor information comprises the state of the windshield wiper, which in turn allows a prediction whether it is raining or not. In this way, a particularly favorable and simple determination of a coefficient of friction from the combination of the information from the database and the sensor information would be possible.
  • the sensor information comes from a humidity sensor and directly describes the degree of moisture on the road. Alternatively, however, the sensor information can also originate from a sensor fusion in which the information from various sensors is fused into a single sensor information, for example for information specification.
  • the sensor information can come from any vehicle-internal sensor.
  • vehicle ad hoc networks can be used which, as part of messages, can distribute sensor information between the subscribers or nodes of the vehicle ad hoc network.
  • the specified method includes the steps
  • the coefficient of friction in the database can be specified iteratively.
  • this has the advantage that accurate accuracy of the updated coefficient of friction retrieving vehicles with less computational effort Results, whereby the coefficient of friction can be permanently maintained at a precise value by means of swarming intelligence.
  • the collision avoidance system is set up to intervene in the driving dynamics of the vehicle based on the output signal in order to avoid the collision.
  • the collision avoidance system can respond in any way to the output signal and also warn the driver of the vehicle so that it initiates the avoidance of collision by avoidance or deceleration, by the active intervention but also accidents can be avoided, for example, by insufficient driving Skills of the driver are caused. It would also be conceivable to combine the aforementioned reactions to the signal output by first warning the driver and by actively intervening if there is no reaction.
  • a control device is set up to carry out one of the specified methods.
  • the specified device has a memory and a processor.
  • a specified method in the form of a computer program is stored in the memory and the processor is provided for carrying out the method when the computer program is loaded from the memory into the processor.
  • a computer program comprises program code means for performing all the steps of one of the specified methods when the computer program is executed on a computer or one of the specified devices.
  • a computer program product comprises a program code which is stored on a data carrier and the compu ⁇ terlesbaren, when executed on a data processing device, carries out one of the methods specified.
  • a vehicle includes a chassis wheeled on wheels,
  • a collision with an obstacle-avoiding collision avoidance system which is arranged to avoid the Kol ⁇ lision by detecting an actual distance to the obstacle and by outputting a signal based on a difference between the actual distance and a target distance, and
  • Fig. 1 is a schematic diagram of a vehicle on a road
  • Fig. 2 shows a schematic diagram of a fusion sensor in the vehicle of Fig. 1.
  • the same technical elements are provided with the same reference numerals and described only once.
  • Fig. 1 shows a schematic diagram of a vehicle 2 on a road 4.
  • the vehicle 2 moves in the context of the present embodiment to an intersection 6, at which the traffic is controlled by a signal system with three traffic lights 8. It should be assumed that the vehicle 2 moves in a direction of travel 10 on the road 4 to one of the traffic lights 8 and that before this traffic light 8 another vehicle 12 is waiting to explain the present embodiment.
  • the vehicle 2 has a collision avoidance system to be described in the form of a brake assistant 14 referenced in FIG. 2.
  • the brake assistant 14 detects with a sensor, such as a radar sensor 16 with radar beams 18, an actual distance 20 from the further vehicle 12, this actual distance 20 a threshold distance 22 to the other vehicle 12, then the brake assistant 14 brakes the vehicle 2 automatically.
  • the vehicle 2 comprises a chassis 24, which is carried in a known manner via wheels 26 on a ground such as the road 4 mobile.
  • the wheels 26 can be braked by a brake control device 28 known per se via brakes 30 by driving with brake control signals 32 based on a braking request 34 individual wheel.
  • This brake request 34 may be generated by a variety of technical devices in the vehicle 2, such as a brake pedal controlled by the driver. However, in the present embodiment, the brake request 34 is generated by the brake assist 14.
  • the brake assist 14 comprises a drive device 36, which essentially satisfies the brake request 34 based on a Comparison of the actual distance 20 and the threshold distance 22 generated. This is known per se and need not be explained in detail.
  • the radar sensor 16 is displayed as outputting the actual distance 20.
  • the actual distance 20 in the drive device 36 taking into account further sensor information, such as the camera image 38 of an image 40 of a camera 20 in the direction of travel 10 in front of the vehicle 2. Details can be found in the relevant prior art.
  • the threshold distance 22 is dependent on a coefficient of friction 44, which is also referred to as friction coefficient or friction coefficient, which describes a frictional connection between the wheels 26 of the vehicle 2 and the road 4.
  • the friction coefficient 44 is expediently determined as accurately as possible on the route between the vehicle 2 and the further vehicle 12.
  • a calculation device 46 present, the braking distance of the driving tool from the friction coefficient 44 2 on the road 4 and, based on the threshold ⁇ distance may determine 22 which is necessary to the vehicle 2 without colliding further with the above, the brakes 30 Vehicle 12 to a halt.
  • the basis for the friction coefficient 44 in the present embodiment is an initial friction coefficient 48, which can be stored in a database 50 as a function of a position 52 of the vehicle 2 in the form of map data.
  • This database 50 can in principle also be arranged externally from the vehicle 2 and queried, for example, via a wireless network communication.
  • the position 52 may, for example, be received from a receiver 54 for a global navigation satellite system called GNSS. _
  • the position can also be determined with other sensors, such as a fusion sensor.
  • the réellereibbeiwert 48 can now be adapted in many ways to the conditions on the road 4.
  • sensor information 62 in this case moisture information, which describes the state of the road 4 in relation to the actual friction coefficient 44, can be retrieved. If the road 4 is wet, for example, the initial friction coefficient 48 for determining the friction coefficient 44 can be correspondingly reduced.
  • sensor information for example, the status of a windshield wiper of the vehicle 2 not further shown could be queried. If the windshield wiper on, then it can be closed on a wet road 10.
  • a vehicle memory can be read 64, the vehicle-specific data 66, such as Materialei ⁇ properties of the wheels 26, chassis data to the vehicle 2 or other the coefficient of friction may contain 44 influencing data. Based on these data 66, the output friction coefficient 48 can also be adjusted.
  • the road condition 70 of the road 10 can be queried.
  • This database 68 can also be an example, a weather map or in ⁇ formation database that provides information on the material, from which a road surface of the road 10 is manufactured.
  • the additional database 68 can internally in the Vehicle 2 or externally outside of the vehicle 2 are arranged.
  • Each additional database may also be several additional databases 68, each additional database being provided by a different service provider.
  • Weather maps could be provided by a wet ⁇ terberichtieri, while the state or the municipalities could offer data to the road surface.
  • the vehicle-specific data 66 could also be provided as an additional database, which can then be offered jointly by the vehicle manufacturer and its suppliers.
  • a currently determined friction coefficient 44 can be stored as the next starting friction coefficient 48 in a current position 52 in the database 50.

Landscapes

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

Abstract

The invention relates to a method for adapting a collision avoidance system (14) that avoids a collision of a vehicle (2) with an obstacle (12), which collision avoidance system is designed to avoid the collision by sensing an actual distance (20) from the obstacle (12) and by outputting a signal (34) on the basis of the falling below of a threshold distance (22) by the actual distance (20), comprising: sensing a friction coefficient (44) of an underlying surface (10) on which the vehicle (2) is supported in such a way that the vehicle can be driven, and setting the threshold distance (22) on the basis of the sensed friction coefficient (44).

Description

Reibbeiwertabhängiges Ko11isionsvermeidungssystem Friction coefficient-dependent collision avoidance system
Die Erfindung betrifft ein Verfahren zum Anpassen eines Kollisionswarnsystems, eine Steuervorrichtung zur Durchführung des Verfahrens und ein Fahrzeug mit der Steuervorrichtung. The invention relates to a method for adapting a collision warning system, a control device for carrying out the method and a vehicle with the control device.
Aus der DE 10 2012 000 949 AI ist ein Kollisionsvermeidungs- systems in Form eines Kollisionswarnsystems bekannt, bei dem der Fahrer eines Fahrzeuges im Falle einer Kollisionsgefahr gewarnt wird, um die Kollision zu vermeiden. A collision avoidance system in the form of a collision warning system is known from DE 10 2012 000 949 A1, in which the driver of a vehicle is warned in the event of a collision hazard in order to avoid the collision.
Es ist Aufgabe das Kollisionsvermeidungssystem zu verbessern. It is the task to improve the collision avoidance system.
Die Aufgabe wird durch die Merkmale der unabhängigen Ansprüche gelöst. Bevorzugte Weiterbildungen sind Gegenstand der ab¬ hängigen Ansprüche. The object is solved by the features of the independent claims. Preferred further developments are subject of the dependent claims from ¬.
Gemäß einem Aspekt der Erfindung umfasst ein Verfahren zum Anpassen eines eine Kollision eines Fahrzeuges mit einem Hindernis vermeidenden Kollisionsvermeidungssystems , das eingerichtet ist, die Kollision durch Erfassen eines Istabstandes zum Hindernis und durch Ausgeben eines Signals basierend auf einer Unterschreitung eines Schwellabstandes durch den Istabstand zu vermeiden, die Schritte According to one aspect of the invention, a method of adapting a collision avoidance system avoiding a collision of a vehicle with an obstacle and configured to avoid the collision by detecting an actual distance to the obstacle and outputting a signal based on an undershooting of a threshold distance by the actual distance; the steps
Erfassen eines Reibbeiwertes eines Untergrundes, auf dem das Fahrzeug fahrbar getragen ist, und  Detecting a coefficient of friction of a substrate on which the vehicle is carried mobile, and
Einstellen des Schwellabstandes basierend auf dem erfassten Reibbeiwert .  Adjusting the threshold distance based on the detected friction coefficient.
Dem angegebenen Verfahren liegt die Überlegung zugrunde, dass der Schwellabstand, ab dem die Kollision mit dem Hindernis droht, von einem Bremsweg des Fahrzeuges ist, innerhalb dem das Fahrzeug zum Stehen gebracht werden kann, ohne auf das Hindernis aufzutreffen . Dieser Bremsweg ist unter anderem vom Reibbeiwert des Unter- grundes abhängig auf dem das Fahrzeug getragen wird. Der Reibbeiwert kann sich jedoch verändern und ist nicht überall gleich. Zur Definition des Schwellabstandes könnte ein fester Wert verwendet werden. Problematisch dabei ist jedoch, dass dann entweder nicht mehr alle Kollisionen beispielsweise auf ver¬ eisten Untergründen vermieden werden können, wenn der feste Wert für den Reibbeiwert zu hoch gewählt ist oder dass das Kolli- sionsvermeidungssystem zu oft eingreift, wenn beispielsweise der Untergrund trocken ist und so einen hohen Reibbeiwert besitzt. The specified method is based on the consideration that the threshold distance, from which the collision with the obstacle threatens, is a braking distance of the vehicle, within which the vehicle can be brought to a halt, without encountering the obstacle. This braking distance is partly determined by the coefficient of friction of the depending on which the vehicle is worn. However, the coefficient of friction can change and is not the same everywhere. To define the threshold distance, a fixed value could be used. The problem here is that then either not all collisions can be avoided, for example on ver ¬ eested substrates, if the fixed value for the coefficient of friction is too high or that the collision avoidance system intervenes too often, for example, when the ground is dry and so has a high coefficient of friction.
Hier greift das angegebene Verfahren mit dem Vorschlag an, den Reibbeiwert des Untergrundes zu erfassen und den Schwellabstand in Abhängigkeit des erfassten Reibbeiwertes einzustellen bzw. anzupassen. Auf diese Weise kann das Kollisionsvermeidungssystem angepasst an verschiedene Zustände unterschiedlich auf po¬ tentielle Kollisionen reagieren und diese zuverlässiger vermeiden . Here, the specified method attacks with the proposal to record the coefficient of friction of the substrate and to adjust or adjust the threshold distance as a function of the detected friction coefficient. In this way, the collision avoidance system can be adapted to different states differently respond to po ¬ tentielle collisions and avoid these reliable.
Der Reibbeiwert kann dabei beliebig erfasst werden. Am prak- tikabelsten dabei eine Datenbank, die den Reibbeiwert des Untergrundes an verschiedenen Positionen enthält. Die Datenbank besitzt dabei die Funktion einer Karte, auf der die Reibbeiwerte einer Straße als Untergrund an einzelnen Straßenabschnitten hinterlegt und abgespeichert sind. Die Datenbank kann an einer beliebigen Stelle hinterlegt werden, die für das Fahrzeug informationstechnisch zugänglich ist. So wäre es möglich die Datenbank im Fahrzeug selbst zu hinterlegen, aber auch in einem Netzwerk, auf die das Fahrzeug zugreifen kann. Auch ist eine Kombination möglich, wie beispielsweise eine lokale Datenbank im Fahrzeug, die dann in regelmäßigen Abständen aus der globalen Datenbank aktualisiert wird. The friction coefficient can be detected arbitrarily. The most practical of these is a database which contains the coefficient of friction of the substrate at various positions. The database has the function of a map on which the coefficients of friction of a road are deposited as background on individual road sections and stored. The database can be stored at any point that is accessible to the vehicle information technology. So it would be possible to deposit the database in the vehicle itself, but also in a network that can access the vehicle. A combination is also possible, such as a local database in the vehicle, which is then updated at regular intervals from the global database.
Zum Erfassen des Reibbeiwertes kann das Fahrzeug seine Position beispielsweise über ein globales Satellitennavigationssystem erfassen und dann anhand der erfassten Position den Reibbeiwert aus der Datenbank abrufen. For detecting the coefficient of friction, the vehicle can position itself, for example, via a global navigation satellite system and then retrieve the coefficient of friction from the database based on the detected position.
In einer zusätzlichen Weiterbildung umfasst das angegebene Verfahren die Schritte In an additional development, the specified method comprises the steps
Abrufen einer den Reibbeiwert beeinflussenden Information aus wenigstens einer weiteren Datenbank, und  Retrieving an information influencing the coefficient of friction from at least one further database, and
Aktualisieren des aus der Datenbank abgerufenen Reibbeiwertes basierend auf der aus der weiteren Datenbank abge- rufenen Information.  Updating the coefficient of friction retrieved from the database based on the information retrieved from the further database.
Die den Reibbeiwert beeinflussende Information in der weiteren Datenbank kann jede beliebige Information sein, die geeignet ist, den Reibbeiwert des Untergrundes zu konkretisieren. So kann diese beispielsweise Wetterdaten umfassen, aus denen hervorgeht, ob der Untergrund gegebenenfalls verregnet oder sogar vereist ist. The information influencing the coefficient of friction in the further database can be any information which is suitable for concretizing the friction coefficient of the substrate. For example, this may include weather data indicating whether the ground may be rainy or even icy.
Alternativ oder zusätzlich kann die den Reibbeiwert beeinflussende Information in der weiteren Datenbank kann eine Information sein, die den Reibbeiwert am Fahrzeug beeinflusst. Hierzu können in der Datenbank Fahrzeugdaten, wie beispielsweise das Material der Räder, deren Reibbeiwert oder Fahrwerksei- genschaften hinterlegt sein, anhand derer der sich ergebende Reibbeiwert zwischen dem Untergrund und dem Fahrzeug möglichst präzise basierend abgeschätzt werden kann. Alternatively or additionally, the information influencing the friction coefficient in the further database can be information which influences the friction coefficient on the vehicle. For this purpose, vehicle data, such as, for example, the material of the wheels, their coefficient of friction or chassis properties can be stored in the database, by means of which the resulting friction coefficient between the ground and the vehicle can be estimated as precisely as possible.
Alternativ oder zusätzlich umfasst das angegebene Verfahren in einer Weiterbildung den Schritt Aktualisieren des aus der Datenbank abgerufenen Reibbeiwertes basierend auf wenigstens einer Sensorinformation. Alternatively or additionally, the specified method in a development comprises the step of updating the friction coefficient retrieved from the database based on at least one sensor information.
Diese Sensorinformation kann beliebig ausgebildet sein. Vorteilhaft ist in jedem Fall, dass sowohl Informationen aus einer Datenbank sowie lokale Sensorinformationen kombiniert ausge- wertet werden, um einen möglichst genauen Reibwert zu ermitteln. Eine Möglichkeit wäre, dass die Sensorinformation den Zustand des Scheibenwischers umfasst, was wiederrum eine Prädiktion zulässt, ob es regnet oder nicht. Auf diese Weise wäre eine besonders günstige und einfache Ermittlung eines Reibwertes aus der Kombination der Informationen aus der Datenbank und der Sensorinformationen möglich. Eine zusätzliche oder alternative Möglichkeit wäre, dass die Sensorinformation aus einem Feuchtesensor stammt und unmittelbar den Feuchtigkeitsgrad auf der Straße beschreibt. Weiter alternativ kann die Sensorinformation aber auch einer Sensorfusion entspringen, im Rahmen derer die Informationen aus verschiedenen Sensoren zu einer einzigen Sensorinformation beispielsweise zur Informations- präzisierung fusioniert werden. This sensor information can be configured as desired. In any case, it is advantageous if both information from a database and local sensor information are combined. be evaluated to determine the highest possible coefficient of friction. One possibility would be that the sensor information comprises the state of the windshield wiper, which in turn allows a prediction whether it is raining or not. In this way, a particularly favorable and simple determination of a coefficient of friction from the combination of the information from the database and the sensor information would be possible. An additional or alternative possibility would be that the sensor information comes from a humidity sensor and directly describes the degree of moisture on the road. Alternatively, however, the sensor information can also originate from a sensor fusion in which the information from various sensors is fused into a single sensor information, for example for information specification.
Grundsätzlich kann die Sensorinformation aus einem beliebigen fahrzeuginternen Sensor stammen. Basically, the sensor information can come from any vehicle-internal sensor.
Alternativ oder zusätzlich wäre es aber auch möglich, die Sensorinformation beispielsweise über das zuvor genannte Netzwerk aus einem fahrzeugexternen Sensor zu empfangen. Hierzu können beispielsweise sogenannte Fahrzeug-Ad-Hoc-Netzwerke verwendet werden, die im Rahmen von Botschaften Sensorinformationen zwischen den Teilnehmern oder Knoten des Fahr- zeug-Ad-Hoc-Netzwerkes verteilen können. Alternatively or additionally, however, it would also be possible to receive the sensor information from the vehicle-external sensor via the aforementioned network, for example. For this purpose, for example, what are known as vehicle ad hoc networks can be used which, as part of messages, can distribute sensor information between the subscribers or nodes of the vehicle ad hoc network.
In einer noch anderen Weiterbildung umfasst das angegebene Verfahren die Schritte In yet another embodiment, the specified method includes the steps
Aktualisieren des Reibbeiwertes in der Datenbank basierend auf dem aktualisierten Reibbeiwert.  Updating the coefficient of friction in the database based on the updated coefficient of friction.
Auf diese Weise kann der Reibbeiwert in der Datenbank iterativ präzisiert werden. Insbesondere in dem zuvor genannten Netzwerk hat dies den Vorteil, dass den aktualisierten Reibbeiwert abrufende Fahrzeuge mit weniger Rechenaufwand zu präzisen Ergebnissen gelangen, wobei der Reibbeiwert durch Schwarmin- telligenz dauerhaft auf einem präzisen Wert gehalten werden kann . In this way, the coefficient of friction in the database can be specified iteratively. In particular, in the aforementioned network, this has the advantage that accurate accuracy of the updated coefficient of friction retrieving vehicles with less computational effort Results, whereby the coefficient of friction can be permanently maintained at a precise value by means of swarming intelligence.
In einer besonderen Weiterbildung ist das Kollisionsvermei- dungssystem eingerichtet, basierend auf dem ausgegebenen Signal in die Fahrdynamik des Fahrzeuges einzugreifen, um die Kollision zu vermeiden. Zwar kann das Kollisionsvermeidungssystem in beliebiger Weise auf das ausgegebene Signal reagieren und beispielsweise den Fahrer des Fahrzeuges auch warnen, so dass dieser die Vermeidung der Kollision durch Ausweichen oder Abbremsen einleitet, durch den aktiven Eingriff können jedoch auch Unfälle vermieden werden, die beispielsweise durch unzureichende fahrerische Fähigkeiten des Fahrers hervorgerufen werden. Denkbar wäre auch eine Kombination der zuvor genannte Reaktionen auf das ausgegebene Signal, indem zunächst der Fahrer gewarnt und bei ausbleibender Reaktion aktiv eingegriffen wird. In a particular refinement, the collision avoidance system is set up to intervene in the driving dynamics of the vehicle based on the output signal in order to avoid the collision. Although the collision avoidance system can respond in any way to the output signal and also warn the driver of the vehicle so that it initiates the avoidance of collision by avoidance or deceleration, by the active intervention but also accidents can be avoided, for example, by insufficient driving Skills of the driver are caused. It would also be conceivable to combine the aforementioned reactions to the signal output by first warning the driver and by actively intervening if there is no reaction.
Gemäß einem weiteren Aspekt der Erfindung ist eine Steuervorrichtung eingerichtet, eines der angegebenen Verfahren durchzuführen . According to a further aspect of the invention, a control device is set up to carry out one of the specified methods.
In einer Weiterbildung der angegebenen Steuervorrichtung weist die angegebene Vorrichtung einen Speicher und einen Prozessor auf. Dabei ist eines angegebenen Verfahren in Form eines Computerprogramms in dem Speicher hinterlegt und der Prozessor zur Ausführung des Verfahrens vorgesehen, wenn das Computerprogramm aus dem Speicher in den Prozessor geladen ist. In a development of the specified control device, the specified device has a memory and a processor. In this case, a specified method in the form of a computer program is stored in the memory and the processor is provided for carrying out the method when the computer program is loaded from the memory into the processor.
Gemäß einem weiteren Aspekt der Erfindung umfasst ein Computerprogramm Programmcodemittel, um alle Schritte eines der angegebenen Verfahren durchzuführen, wenn das Computerprogramm auf einem Computer oder einer der angegebenen Vorrichtungen ausgeführt wird. Gemäß einem weiteren Aspekt der Erfindung enthält ein Computerprogrammprodukt einen Programmcode, der auf einem compu¬ terlesbaren Datenträger gespeichert ist und der, wenn er auf einer Datenverarbeitungseinrichtung ausgeführt wird, eines der angegebenen Verfahren durchführt. According to a further aspect of the invention, a computer program comprises program code means for performing all the steps of one of the specified methods when the computer program is executed on a computer or one of the specified devices. According to a further aspect of the invention a computer program product comprises a program code which is stored on a data carrier and the compu ¬ terlesbaren, when executed on a data processing device, carries out one of the methods specified.
Gemäß einem weiteren Aspekt der Erfindung umfasst ein Fahrzeug ein fahrbar auf Rädern getragenes Chassis, According to another aspect of the invention, a vehicle includes a chassis wheeled on wheels,
ein eine Kollision mit einem Hindernis vermeidendes Kollisionsvermeidungssystem, das eingerichtet ist, die Kol¬ lision durch Erfassen eines Istabstandes zum Hindernis und durch Ausgeben eines Signals basierend auf einer Differenz zwischen dem Istabstand und einem Sollabstand zu vermeiden, und a collision with an obstacle-avoiding collision avoidance system which is arranged to avoid the Kol ¬ lision by detecting an actual distance to the obstacle and by outputting a signal based on a difference between the actual distance and a target distance, and
eines der angegebenen Steuervorrichtung zum Anpassen des Kollisionsvermeidungssystems .  one of the specified control device for adapting the collision avoidance system.
Die oben beschriebenen Eigenschaften, Merkmale und Vorteile dieser Erfindung sowie die Art und Weise, wie diese erreicht werden, werden klarer und deutlicher verständlich im Zusam- menhang mit der folgenden Beschreibung der Ausführungsbeispiele, die im Zusammenhang mit den Zeichnungen näher erläutert werden, wobei : The above-described characteristics, features and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more clearly understood in connection with the following description of the exemplary embodiments, which are explained in more detail in conjunction with the drawings, in which:
Fig. 1 eine Prinzipdarstellung eines Fahrzeuges auf einer Straße, und Fig. 1 is a schematic diagram of a vehicle on a road, and
Fig. 2 eine Prinzipdarstellung eines Fusionssensors in dem Fahrzeug der Fig. 1 zeigen. In den Figuren werden gleiche technische Elemente mit gleichen Bezugszeichen versehen und nur einmal beschrieben. Fig. 2 shows a schematic diagram of a fusion sensor in the vehicle of Fig. 1. In the figures, the same technical elements are provided with the same reference numerals and described only once.
Es wird auf Fig. 1 Bezug genommen, die eine Prinzipdarstellung eines Fahrzeuges 2 auf einer Straße 4 zeigt. Das Fahrzeug 2 fährt im Rahmen der vorliegenden Ausführung auf eine Kreuzung 6 zu, an der der Verkehr über eine Signalanlage mit drei Ampeln 8 geregelt wird. Es soll zur Erläuterung des vorliegenden Ausführungsbeispiels dabei angenommen werden, dass sich das Fahrzeug 2 in einer Fahrrichtung 10 auf der Straße 4 auf eine der Ampeln 8 zubewegt und dass vor dieser Ampel 8 ein weiteres Fahrzeug 12 wartet. Reference is made to Fig. 1, which shows a schematic diagram of a vehicle 2 on a road 4. The vehicle 2 moves in the context of the present embodiment to an intersection 6, at which the traffic is controlled by a signal system with three traffic lights 8. It should be assumed that the vehicle 2 moves in a direction of travel 10 on the road 4 to one of the traffic lights 8 and that before this traffic light 8 another vehicle 12 is waiting to explain the present embodiment.
Das Fahrzeug 2 besitzt im Rahmen der vorliegenden Ausführung ein noch zu beschreibendes Kollisionsvermeidungssystem in Form eines in Fig. 2 referenzierten Bremsassistenten 14. Der Bremsassistent 14 erfasst mit einem Sensor, wie einem Radarsensor 16 mit Radarstrahlen 18 einen Istabstand 20 zum weiteren Fahrzeug 12 unterschreitet dieser Istabstand 20 einen Schwellabstand 22 zum weiteren Fahrzeug 12, dann bremst der Bremsassistent 14 das Fahrzeug 2 automatisch ab. In the context of the present embodiment, the vehicle 2 has a collision avoidance system to be described in the form of a brake assistant 14 referenced in FIG. 2. The brake assistant 14 detects with a sensor, such as a radar sensor 16 with radar beams 18, an actual distance 20 from the further vehicle 12, this actual distance 20 a threshold distance 22 to the other vehicle 12, then the brake assistant 14 brakes the vehicle 2 automatically.
Hierauf wird an späterer Stelle näher eingegangen. Zunächst wird nachstehend das Fahrzeug 2 anhand von Fig. 2 näher erläutert. This will be discussed in more detail later. First, the vehicle 2 will be explained below with reference to FIG. 2.
Das Fahrzeug 2 umfasst ein Chassis 24, das in an sich bekannter Weise über Räder 26 auf einem Untergrund wie der Straße 4 fahrbar getragen wird. Die Räder 26 können von einer an sich bekannten Bremssteuereinrichtung 28 über Bremsen 30 durch Ansteuern mit Bremssteuersignalen 32 basierend auf einer Bremsanforderung 34 radindividuell abgebremst werden. Diese Bremsanforderung 34 kann von einer Vielzahl von technischen Einrichtungen im Fahrzeug 2 erzeugt werden, wie beispielsweise einem durch den Fahrer gesteuertes Bremspedal. In der vorliegenden Ausführung jedoch wird die Bremsanforderung 34 jedoch durch den Bremsassistenten 14 erzeugt. The vehicle 2 comprises a chassis 24, which is carried in a known manner via wheels 26 on a ground such as the road 4 mobile. The wheels 26 can be braked by a brake control device 28 known per se via brakes 30 by driving with brake control signals 32 based on a braking request 34 individual wheel. This brake request 34 may be generated by a variety of technical devices in the vehicle 2, such as a brake pedal controlled by the driver. However, in the present embodiment, the brake request 34 is generated by the brake assist 14.
Der Bremsassistent 14 umfasst eine Ansteuereinrichtung 36, die im Wesentlichen die Bremsanforderung 34 basierend auf einer Gegenüberstellung des Istabstandes 20 und des Schwellabstandes 22 erzeugt. Dies ist an sich bekannt und braucht nicht näher erläutert zu werden. Im Rahmen der vorliegenden Ausführung wird der Radarsensor 16 als den Istabstand 20 ausgebend dargestellt. In der Regel wird der Istabstand 20 jedoch in der Ansteuer- einrichtung 36 unter Berücksichtigung weiterer Sensorinformationen, wie beispielsweise dem Kamerabild 38 eines Bildes 40 einer Kamera 20 in Fahrtrichtung 10 vor dem Fahrzeug 2. Details hierzu können dem einschlägigen Stand der Technik entnommen werden. The brake assist 14 comprises a drive device 36, which essentially satisfies the brake request 34 based on a Comparison of the actual distance 20 and the threshold distance 22 generated. This is known per se and need not be explained in detail. In the context of the present embodiment, the radar sensor 16 is displayed as outputting the actual distance 20. In general, however, the actual distance 20 in the drive device 36, taking into account further sensor information, such as the camera image 38 of an image 40 of a camera 20 in the direction of travel 10 in front of the vehicle 2. Details can be found in the relevant prior art.
Im Rahmen der vorliegenden Ausführung ist der Schwellabstand 22 abhängig von einem auch Reibungskoeffizient oder Reibungszahl genannten Reibbeiwert 44, der einen Reibschluss zwischen den Rädern 26 des Fahrzeuges 2 und der Straße 4 beschreibt. Der Reibbeiwert 44 wird dabei zweckmäßigerweise so genau wie möglich auf der Strecke zwischen dem Fahrzeug 2 und dem weiteren Fahrzeug 12 bestimmt. Hierzu eine Berechnungseinrichtung 46 vorhanden, die aus dem Reibbeiwert 44 den Bremsweg des Fahr- zeuges 2 auf der Straße 4 und basierend darauf den Schwell¬ abstand 22 bestimmen kann, der notwendig ist, um das Fahrzeug 2 über die Bremsen 30 ohne Kollision mit dem weiteren Fahrzeug 12 zum Stehen zu bringen. Grundlage für den Reibbeiwert 44 ist in der vorliegenden Ausführung ein Ausgangsreibbeiwert 48, der in einer Datenbank 50 in Abhängigkeit einer Position 52 des Fahrzeuges 2 in Form von Kartendaten hinterlegt sein kann. Diese Datenbank 50 kann grundsätzlich auch extern vom Fahrzeug 2 angeordnet und bei- spielsweise über eine drahtlose Netzwerkkommunikation abgefragt werden . In the context of the present embodiment, the threshold distance 22 is dependent on a coefficient of friction 44, which is also referred to as friction coefficient or friction coefficient, which describes a frictional connection between the wheels 26 of the vehicle 2 and the road 4. The friction coefficient 44 is expediently determined as accurately as possible on the route between the vehicle 2 and the further vehicle 12. To this end, a calculation device 46 present, the braking distance of the driving tool from the friction coefficient 44 2 on the road 4 and, based on the threshold ¬ distance may determine 22 which is necessary to the vehicle 2 without colliding further with the above, the brakes 30 Vehicle 12 to a halt. The basis for the friction coefficient 44 in the present embodiment is an initial friction coefficient 48, which can be stored in a database 50 as a function of a position 52 of the vehicle 2 in the form of map data. This database 50 can in principle also be arranged externally from the vehicle 2 and queried, for example, via a wireless network communication.
Die Position 52 kann beispielsweise aus einem Empfänger 54 für ein GNSS genanntes globales Satellitennavigationssystem emp- _ The position 52 may, for example, be received from a receiver 54 for a global navigation satellite system called GNSS. _
y fangen werden, der über eine Antenne 56 ein GNSS-Signal 58 empfängt und daraus in an sich bekannter Weise die Position 52 des Fahrzeuges 2 bestimmt. Alternativ kann die Position aber auch mit anderen Sensoren, wie beispielsweise einem Fusionssensor bestimmt werden.  y, which receives an GNSS signal 58 via an antenna 56 and determines therefrom in a manner known per se the position 52 of the vehicle 2. Alternatively, the position can also be determined with other sensors, such as a fusion sensor.
Der Ausgangsreibbeiwert 48 kann nun in vielfältiger Weise an die Verhältnisse auf der Straße 4 angepasst werden. Hierzu können beispielsweise aus einem Sensor 60, wie einem Feuchtigkeits- sensor Sensorinformationen 62, in diesem Fall Feuchtigkeitsinformationen abgerufen werden, die den Zustand der Straße 4 in Bezug auf den tatsächlichen Reibbeiwert 44 beschreiben. Ist die Straße 4 beispielsweise nass, kann der Ausgangsreibbeiwert 48 zur Bestimmung des Reibbeiwertes 44 entsprechend herabgesetzt werden. Als weitere oder alternative Sensorinformation könnte beispielsweise der Status eines nicht weiter gezeigten Scheibenwischers des Fahrzeuges 2 abgefragt werden. Ist der Scheibenwischer an, dann kann auf eine nasse Straße 10 geschlossen werden. The Ausgangsreibbeiwert 48 can now be adapted in many ways to the conditions on the road 4. For this purpose, for example, from a sensor 60, such as a moisture sensor, sensor information 62, in this case moisture information, which describes the state of the road 4 in relation to the actual friction coefficient 44, can be retrieved. If the road 4 is wet, for example, the initial friction coefficient 48 for determining the friction coefficient 44 can be correspondingly reduced. As a further or alternative sensor information, for example, the status of a windshield wiper of the vehicle 2 not further shown could be queried. If the windshield wiper on, then it can be closed on a wet road 10.
Weiterhin kann ein Fahrzeugspeicher 64 ausgelesen werden, der fahrzeugspezifische Daten 66, wie beispielweise Materialei¬ genschaften der Räder 26, Fahrwerkdaten zum Fahrzeug 2 oder andere den Reibbeiwert 44 beeinflussende Daten enthalten kann. Basierend auf diesen Daten 66 kann der Ausgangsreibbeiwert 48 ebenfalls angepasst werden. Further, a vehicle memory can be read 64, the vehicle-specific data 66, such as Materialei ¬ properties of the wheels 26, chassis data to the vehicle 2 or other the coefficient of friction may contain 44 influencing data. Based on these data 66, the output friction coefficient 48 can also be adjusted.
Schließlich kann aus einer Zusatzdatenbank 68 auch der Straßenzustand 70 der Straße 10 abgefragt werden. Diese Datenbank 68 kann beispielsweise eine Wetterkarte oder aber auch eine In¬ formationsdatenbank sein, die über das Material informiert, aus dem ein Fahrbahnbelag der Straße 10 gefertigt ist. Wie die Datenbank 50, kann auch die Zusatzdatenbank 68 intern im Fahrzeug 2 oder extern außerhalb des Fahrzeuges 2 angeordnet werden . Finally, from an additional database 68, the road condition 70 of the road 10 can be queried. This database 68 can also be an example, a weather map or in ¬ formation database that provides information on the material, from which a road surface of the road 10 is manufactured. Like the database 50, the additional database 68 can internally in the Vehicle 2 or externally outside of the vehicle 2 are arranged.
Es können auch mehrere Zusatzdatenbänke 68 vorhanden sein, wobei jede Zusatzdatenbank von einem unterschiedlichen Dienstleister bereitgestellt wird. Die Wetterkarte könnte von einem Wet¬ terberichtanbieter bereitgestellt werden, während der Staat oder die Gemeinden Daten zum Fahrbahnbelag anbieten könnten. Die fahrzeugspezifischen Daten 66 könnten ebenfalls als Zusatz- datenbank bereitgestellt werden, die dann vom Fahrzeughersteller und seinen Zulieferern gemeinschaftlich angeboten werden kann. There may also be several additional databases 68, each additional database being provided by a different service provider. Weather maps could be provided by a wet ¬ terberichtanbieter, while the state or the municipalities could offer data to the road surface. The vehicle-specific data 66 could also be provided as an additional database, which can then be offered jointly by the vehicle manufacturer and its suppliers.
Um den Berechnungsaufwand für den Reibbeiwert 44 in Grenzen zu halten, kann ein aktuell bestimmter Reibbeiwert 44 als nächster Ausgangsreibbeiwert 48 zu einer aktuellen Position 52 in der Datenbank 50 hinterlegt werden. In order to keep the calculation effort for the friction coefficient 44 within limits, a currently determined friction coefficient 44 can be stored as the next starting friction coefficient 48 in a current position 52 in the database 50.

Claims

Patentansprüche claims
1. Verfahren zum Anpassen eines eine Kollision eines Fahrzeuges (2) mit einem Hindernis (12) vermeidenden Kollisions- Vermeidungssystems (14), das eingerichtet ist, die Kollision durch Erfassen eines Istabstandes (20) zum Hindernis (12) und durch Ausgeben eines Signals (34) basierend auf einer Unterschreitung eines Schwellabstandes (22) durch den Istabstand (20) zu vermeiden, umfassend: A method of adjusting a collision avoidance system (14) avoiding a collision of a vehicle (2) with an obstacle (12) and arranged to detect the collision by detecting an actual distance (20) from the obstacle (12) and outputting a signal (34) based on falling below a threshold distance (22) by the actual distance (20), comprising:
- Erfassen eines Reibbeiwertes (44) eines Untergrundes (10), auf dem das Fahrzeug (2) fahrbar getragen ist, und - Detecting a Reibbeiwertes (44) of a substrate (10) on which the vehicle (2) is carried mobile, and
Einstellen des Schwellabstandes (22) basierend auf dem erfassten Reibbeiwert (44).  Adjusting the threshold distance (22) based on the detected friction coefficient (44).
2. Verfahren nach Anspruch 1, wobei der Reibbeiwert (44) basierend auf einem Abruf aus einer Datenbank (50) bestimmt wird, in der ein Grundlagenwert (48) für Reibbeiwert (44) positi¬ onsabhängig (52) gespeichert ist. 2. The method of claim 1, wherein the friction coefficient (44) is determined based on a retrieval from a database (50) in which a basic value (48) for Reibbeiwert (44) positi ¬ onsabhängig (52) is stored.
3. Verfahren nach Anspruch 2, wobei die Datenbank (50) in einem Netzwerk hinterlegt ist, an das das Fahrzeug (2) angeschlossen ist . 3. The method of claim 2, wherein the database (50) is deposited in a network to which the vehicle (2) is connected.
4. Verfahren nach Anspruch 2 oder 3, umfassend 4. The method according to claim 2 or 3, comprising
- Abrufen einer den Reibbeiwert (44) beeinflussenden Information (66, 70) aus wenigstens einer weiteren Datenbank (64, 68 ) , und Retrieving an information (66, 70) influencing the friction coefficient (44) from at least one further database (64, 68), and
Bestimmen des Reibbeiwertes (44) basierend auf der aus der weiteren Datenbank (64, 68) abgerufenen Information (66, 70) und dem Grundlagenwert (48) .  Determining the friction coefficient (44) based on the information (66, 70) retrieved from the further database (64, 68) and the baseline value (48).
5. Verfahren nach einem der vorstehenden Ansprüche 2 bis 4, umfassend : Bestimmen des Reibbeiwertes (44) basierend auf dem aus der Datenbank (50) abgerufenen Grundlagenwertes (48) und wenigstens einer Sensorinformation (62). 5. The method according to any one of the preceding claims 2 to 4, comprising: Determining the friction coefficient (44) based on the base value (48) retrieved from the database (50) and at least one sensor information (62).
6. Verfahren nach Anspruch 5, wobei die Sensorinformation (62) aus einem fahrzeugexternen Sensor oder einem fahrzeuginternen Sensor (60) empfangen wird. 6. The method of claim 5, wherein the sensor information (62) from an off-vehicle sensor or an in-vehicle sensor (60) is received.
7. Verfahren nach Anspruch 4 oder 5, umfassend: The method of claim 4 or 5, comprising:
- Aktualisieren des Grundlagenwertes (48) für den Reib¬ beiwert (44) in der Datenbank (50) basierend bestimmten Reibbeiwert (44) . - Updating the baseline value (48) for the coefficient of friction ¬ (44) in the database (50) based on certain friction coefficient (44).
8. Verfahren nach einem der vorstehenden Ansprüche, wobei das Kollisionsvermeidungssystem (14) eingerichtet ist, basierend auf dem ausgegebenen Signal (34) in die Fahrdynamik des Fahrzeuges (2) einzugreifen, um die Kollision zu vermeiden. A method according to any preceding claim, wherein the collision avoidance system (14) is arranged to intervene in the driving dynamics of the vehicle (2) based on the output signal (34) to avoid the collision.
9. Steuervorrichtung zur Durchführung eines Verfahrens nach einem der vorstehenden Ansprüche. 9. Control device for carrying out a method according to one of the preceding claims.
10. Fahrzeug (2) umfassend: 10. Vehicle (2) comprising:
ein fahrbar auf Rädern (26) getragenes Chassis (24), ein eine Kollision mit einem Hindernis (12) vermeidendes Kollisionsvermeidungssystem (14), das eingerichtet ist, die Kollision durch Erfassen eines Istabstandes (20) zum Hindernis und durch Ausgeben eines Signals (34) basierend auf einer Unterschreitung eines Schwellabstandes (22) durch den Istabstand (20) zu vermeiden, und  a chassis (24) movably supported on wheels (26), a collision avoidance system (14) avoiding collision with an obstacle (12), arranged to detect the collision by detecting an actual distance (20) from the obstacle and outputting a signal (34 ) to be avoided based on an undershooting of a threshold distance (22) by the actual distance (20), and
- eine Steuervorrichtung nach Anspruch 9 zum Anpassen des Kollisionsvermeidungssystems (14) . - A control device according to claim 9 for adapting the collision avoidance system (14).
EP15767181.9A 2014-09-25 2015-09-24 Friction-coefficient-dependent collision avoidance system Withdrawn EP3197736A1 (en)

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