EP3546308A1 - Method for operating a control device, motor vehicle and computer program - Google Patents
Method for operating a control device, motor vehicle and computer program Download PDFInfo
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- EP3546308A1 EP3546308A1 EP19152380.2A EP19152380A EP3546308A1 EP 3546308 A1 EP3546308 A1 EP 3546308A1 EP 19152380 A EP19152380 A EP 19152380A EP 3546308 A1 EP3546308 A1 EP 3546308A1
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- collision
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- driving situation
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004590 computer program Methods 0.000 title claims description 7
- 230000007613 environmental effect Effects 0.000 claims abstract description 23
- 238000011156 evaluation Methods 0.000 claims abstract description 6
- 230000006399 behavior Effects 0.000 claims description 2
- 238000004422 calculation algorithm Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005352 clarification Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
Definitions
- the invention relates to a method for operating a control device of a motor vehicle, wherein the control device is designed for fully automatic guidance of the motor vehicle by evaluating driving situation data comprising environment data of at least one environmental sensor of the motor vehicle, which are supplied to the control unit.
- the invention relates to a motor vehicle and a computer program.
- a significant proportion of the driving situation data represent environmental data that are supplied by various environmental sensors of the motor vehicle.
- environment sensors may include, for example, radar sensors, lidar sensors, ultrasound sensors and in particular also cameras, their image data as environmental data usually evaluated by various image processing algorithms and can be converted into useful, the driving situation descriptive information.
- Due to the high quality and thus amount of image data of modern cameras it is known to use high-speed data connections and high-speed interfaces to the controller to quickly transmit the large amount of generated image data to the controller, so that in the image data contained, the driving situation descriptive information can be reacted as quickly as possible.
- the control units themselves have a mostly rather small-sized buffer memory in which also driving situation data of at least one previous time step can still be provided, in particular also with regard to the tracking of changes in the driving situation.
- DE 100 29 401 A1 relates to a method for event-based storage of vehicle system data, wherein an interface to a vehicle system bus is used.
- Vehicle system bus data present on the vehicle system bus can be stored in a memory via the vehicle system bus upon receipt of a storage command.
- driver command data and constraint data are recorded.
- the storage event may be a detected vehicle accident. Even such an approach only reacts when an accident has occurred and has the further disadvantage that the vehicle system bus is often clearly too slow, so further delays occur, which can lead to no data in case of power failure or the like in an accident the driving activity of the driver can be stored more.
- DE 10 2004 045 813 A1 relates to a system and method for predictively detecting an accident hazard situation.
- it is sensed in the blind spot of the motor vehicle in order to be able to detect data relating to a potential accident object.
- At least one suitable occupant protection measure may be activated in response to data collected by the tote-angle sensing device.
- the probability of a side accident can be estimated in different ways by means of suitable algorithms.
- Other ways of increasing the safety of occupants of motor vehicles, particularly the driver, who are monitoring for collisions have also been proposed.
- EP 0 891 903 A2 relates to an automatic emergency braking function designed to allow the driver maximum decision sovereignty in avoiding obstacles without sacrificing the benefits of a collision-control system assisting the driver in the event of an actual collision situation. Accordingly, it is provided to give the driver of the vehicle as long as possible the opportunity to avoid the collision by himself to be undertaken by actions such as braking and / or steering operations. Only when due to the physical physical conditions, resulting from the driving condition of the vehicle and the collision constellation, a collision is clearly unavoidable, is an automatically triggered and preferably strongest possible deceleration of the vehicle decelerated before the collision so that the Accident consequences for driver and vehicle are thereby minimized.
- the environmental data or sensor signals supplied by the local detection device can be stored in a memory device, in particular also image signals of a camera device.
- DE 10 2013 212 092 A1 relates to a method and apparatus for operating a pedestrian protection device of a vehicle.
- a type of collision object is to be determined, wherein with respect to the data of the environment sensors that describe this collision object, when a threshold value for the impact probability is exceeded, a freeze state can be established in order to have data on the collision object in each case.
- DE 10 2016 222 219 A1 relates to a driver assistance system for a motor vehicle, in which geo-positions of the vehicle, which have an increased probability of triggering a collision avoidance system, are self-learning to take into account when re driving the spatial environment around the stored vehicle position in preparation for a hazard warning or emergency braking. With the vehicle position also more data can be stored.
- DE 10 2015 218 762 A1 discloses a method and apparatus for accident data storage for a vehicle. There it is proposed to give accident-relevant vehicle data not only to an interface to an in-vehicle storage device for storing the accident-relevant vehicle data in a detected imminent accident of the vehicle, but also to an interface to a transmission device for transmitting the accident-relevant vehicle data to at least one vehicle external storage device Saving the accident-relevant vehicle data. Thus it can be achieved that no information can be lost, which may be important for reconstructing the accident.
- the invention is based on the object of specifying a possibility for better documentation of accidents of a completely automatically operated motor vehicle.
- the invention therefore proposes to provide a dedicated, additional storage means within the control unit itself and also to generate within the control unit itself by evaluation of driving situation data, a trigger signal indicative of a most likely imminent collision accident of the motor vehicle to at least part of the current environment data continuously in storing this memory means, so that an excellent basis is created to evaluate at a later time the occurrence of the accident, for example, a question of guilt and / or a possibly occurred error in the fully automatic guidance of the motor vehicle.
- the storage means is preferably used in addition to a smaller, continuously used buffer memory of the controller, so that even larger amounts of data, as can be expected for example by image data of a camera over the longer period within the storage means can be kept.
- an SSD and / or eMMC can be used as a storage means, so that as quickly as possible in an imminent accident, storage of the documentary data suitable for documentation, in particular of the part of the environment data, can take place.
- the trigger signal is an internal signal of the controller, ensures maximum utilization of the available time for Saving at least the part of the environment data and optionally further documentation data.
- the part of the environmental data to be stored when the threshold value is exceeded by the collision probability is selected to comprise at least image data from a camera as environmental sensor.
- the part of the environmental data to be stored may preferably also include radar data of a radar sensor as environment sensor, after radar data in the analysis of an accident can also provide particularly useful information, in particular relative speeds and / or distances.
- the environment data, in particular the part of the environmental data to be stored are transmitted to the control unit at least partially via a high-speed interface.
- the threshold value can be suitably selected in a range of 40 to 70%, in particular 50%.
- a value of 50% has proven to be expedient in the use of conventional algorithms for determining the collision speed, as are known in the prior art, in order not only to obtain a suitably dimensioned period of time before the actual collision, but also not often to generate the trigger signal, thus covering too many false alarms that are not followed by an actual accident.
- both the activation and the deactivation can advantageously be based on the same threshold value; if appropriate, a somewhat lower value than the threshold value for generating the trigger signal may also be selected as the further threshold value, in order to avoid storage for short periods, which is then aborted immediately, and in any case to achieve continuous recording over a significant period of time, even if no accident will take place. For example, 50% can be selected as the threshold value for generating the trigger signal, and 40% as the further threshold value.
- expedient the evaluation of the collision probability after the occurrence of the collision which can be determined for example by a collision sensor of the motor vehicle, can be canceled if then there is still electrical energy within the controller.
- it may be provided to store at least the part of the environment data in the storage means for a predetermined period of time after the occurrence of the collision or to end the period of storage in the storage means already with the occurrence of the collision.
- the invention also relates to a motor vehicle, comprising a vehicle system for completely automatic guidance of the motor vehicle with a control device designed for carrying out the method according to the invention and at least one surroundings sensor. All statements relating to the method according to the invention can be analogously transferred to the motor vehicle according to the invention, with which therefore also the already mentioned advantages can be obtained.
- a computer program according to the invention is for example directly loadable into a memory of a control unit of a motor vehicle and has program means for carrying out the steps of a method according to the invention when the computer program is executed in the control unit of the motor vehicle.
- the computer program can be stored on an electronically readable data carrier which thus contains electronically readable control information stored thereon, which record at least one computer program according to the invention and are designed such that they perform a method according to the invention when the data carrier is used in a control unit of a motor vehicle.
- Fig. 1 shows a schematic diagram of a motor vehicle 1 according to the invention, which has a completely automatic guidance of the motor vehicle trained vehicle system 2 with a control unit 3.
- the control unit 3 receives as driving situation data in addition to operating data of the motor vehicle 1 environmental data from environmental sensors of the motor vehicle 1, with cameras 4 and radar sensors 5 being shown here by way of example.
- a high-speed data connection with a corresponding high-speed interface to the control device 3 is used.
- the driving situation data are evaluated in order to generate driving interventions describing control signals for corresponding actuators of the motor vehicle 1, whereby in the present case only a motor 6, a braking device 7 and a steering system 8 are shown.
- the motor vehicle 1 may also include, for example, crash sensors 9 designed as acceleration sensors. These deliver their corresponding sensor data as well to the control unit 3.
- Fig. 3 shows the structure of the control unit 3 in more detail. At least part of the environment data, in particular the surrounding data of the cameras 4, are received via a high-speed interface 10.
- the control unit 3 also has other interfaces, for example to a vehicle bus system and / or for other direct connections.
- a collision documentation unit 14 is also realized by the computing device 12.
- Driving situation data which are evaluated by the computing device 12, are temporarily stored in a buffer memory 15 of the control unit 3.
- the control unit 3 also has a memory means 16 dimensioned larger than the buffer memory 15, in this case an SSD, in which documentation data concerning an accident of the motor vehicle 1 can be recorded.
- the collision documentation unit 14 further evaluates the driving situation data in order to determine a collision probability of the motor vehicle 1 with a foreign object. If this collision probability exceeds a threshold value, in this case 50%, an internal trigger signal is generated in the control unit 3, which ensures that a defined part of the environment data, together with other defined driving situation data and / or operating data of the motor vehicle 1, continuously into the storage means 16 is stored, which may also be at least partially deleted on receipt of the trigger signal if necessary, in particular, if it still documentation data are stored, which originate from a driving situation in which there was a high probability of collision, but no accident has occurred.
- the defined part of the environmental data to be stored comprises at least the image data of the cameras 4 and the radar data of the radar sensors 5.
- the period for which such actual respective documentation data is stored in the memory means 16 can be dimensioned until the collision probability among the or another threshold, here 40% falls. However, if a collision actually occurs, which can be detected by the collision sensors 9, the occurrence of the collision can also mark the end of the storage; However, it is also conceivable, in particular if the power supply of the control unit 3 is maintained, to continue to store, for a predetermined period of time beyond the collision time, further documentation data comprising at least the defined part of the environmental data in the memory means 16.
- documentation data is already stored prior to an occurring collision in a high-quality evaluation and analysis of the accident-receiving amount.
- the documentation data can be read out and analyzed at a later time.
- collision probability which is determined here can also be used for other purposes, for example in a security system likewise implemented by the control unit 3, which preconditions occupant restraining means or the like.
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Abstract
Verfahren zum Betrieb eines Steuergeräts eines Kraftfahrzeugs, wobei das Steuergerät zur vollständig automatischen Führung des Kraftfahrzeugs ausgebildet ist, indem Fahrsituationsdaten umfassend Umfelddaten wenigstens eines Umfeldsensors des Kraftfahrzeugs, die dem Steuergerät zugeführt werden, ausgewertet werden, wobei in dem Steuergerät durch weitere Auswertung der Fahrsituationsdaten eine eine Wahrscheinlichkeit für das Eintreten einer Kollision mit einem Fremdobjekt beschreibende Kollisionswahrscheinlichkeit ermittelt wird, wobei bei Überschreitung eines Schwellwerts für die Kollisionswahrscheinlichkeit ein Triggersignal erzeugt wird, bei dessen Vorliegen begonnen wird, wenigstens einen Teil der aktuellen Umfelddaten in einem Zeitraum bis wenigstens zum Eintritt der Kollision und/oder bis zum Absinken der Kollisionswahrscheinlichkeit unter den und/oder einen weiteren Schwellwert kontinuierlich in einem Speichermittel des Steuergeräts, zu einem späteren Zeitpunkt abrufbar, abzuspeichern.Method for operating a control device of a motor vehicle, wherein the control device is designed for fully automatic guidance of the motor vehicle by evaluating driving situation data comprising environmental data of at least one environment sensor of the motor vehicle, which are supplied to the control unit, wherein in the control unit by further evaluation of the driving situation data a Probability for the occurrence of a collision with a foreign object describing collision probability is determined, wherein when exceeding a threshold value for the collision probability, a trigger signal is generated in the presence is started, at least part of the current environment data in a period until at least the occurrence of the collision and / or until the collision probability drops below the and / or a further threshold continuously in a storage means of the control device, at a later time abrufba r, save.
Description
Die Erfindung betrifft ein Verfahren zum Betrieb eines Steuergeräts eines Kraftfahrzeugs, wobei das Steuergerät zur vollständig automatischen Führung des Kraftfahrzeugs ausgebildet ist, indem Fahrsituationsdaten umfassend Umfelddaten wenigstens eines Umfeldsensors des Kraftfahrzeugs, die dem Steuergerät zugeführt werden, ausgewertet werden. Daneben betrifft die Erfindung ein Kraftfahrzeug und ein Computerprogramm.The invention relates to a method for operating a control device of a motor vehicle, wherein the control device is designed for fully automatic guidance of the motor vehicle by evaluating driving situation data comprising environment data of at least one environmental sensor of the motor vehicle, which are supplied to the control unit. In addition, the invention relates to a motor vehicle and a computer program.
Kraftfahrzeuge mit Fahrzeugsystemen, die eine vollständig automatische Führung des Kraftfahrzeugs, mithin einen autonomen Betrieb des Kraftfahrzeugs, erlauben, wurden im Stand der Technik bereits vorgeschlagen. Dabei werden Eingangssituationen aus unterschiedlichen Informationsquellen innerhalb eines Steuergeräts des Fahrzeugsystems zusammengeführt, um als Eingangsdaten, die insbesondere die aktuelle Fahrsituation beschreibende Fahrsituationsdaten umfassen, zur Ermittlung von Fahreingriffe beschreibenden Steuersignalen an entsprechende Aktoren des Kraftfahrzeugs auszuwerten. Von dem Steuergerät, das den Betrieb des Kraftfahrzeugs vollständig automatisch, mithin autonom, steuert, werden Steuersignale an Fahreingriffe vornehmende Aktoren, beispielsweise einen Motor, eine Lenkeinrichtung und dergleichen, gesendet.Motor vehicles with vehicle systems that allow a completely automatic guidance of the motor vehicle, thus an autonomous operation of the motor vehicle, have already been proposed in the prior art. In this case, input situations from different information sources are combined within a control unit of the vehicle system in order to evaluate, as input data, the driving situation data describing the current driving situation in particular, to determine driving signals describing driving interventions to corresponding actuators of the motor vehicle. From the control unit, which controls the operation of the motor vehicle completely automatically, thus autonomously, control signals are sent to driving engagements taking actuators, such as a motor, a steering device and the like.
Einen wesentlichen Anteil der Fahrsituationsdaten stellen Umfelddaten dar, die von verschiedenen Umfeldsensoren des Kraftfahrzeugs geliefert werden. Derartige Umfeldsensoren können beispielsweise Radarsensoren, Lidarsensoren, Ultraschallsensoren und insbesondere auch Kameras umfassen, deren Bilddaten als Umfelddaten üblicherweise durch verschiedene Bildverarbeitungsalgorithmen ausgewertet und in nützliche, die Fahrsituation beschreibende Informationen umgewandelt werden können. Auf Grund der hohen Qualität und somit Menge der Bilddaten moderner Kameras ist es hierfür bekannt, Hochgeschwindigkeits-Datenverbindungen und Hochgeschwindigkeitsschnittstellen zu dem Steuergerät zu nutzen, um die große Menge an generierten Bilddaten schnell an das Steuergerät übermitteln zu können, so dass auf die in den Bilddaten enthaltene, die Fahrsituation beschreibende Informationen möglichst schnell reagiert werden kann. Die Steuergeräte selbst weisen dabei einen meist eher klein dimensionierten Pufferspeicher auf, in dem auch Fahrsituationsdaten wenigstens eines vorangegangenen Zeitschritts noch vorgehalten werden können, insbesondere auch im Hinblick auf die Nachverfolgung von Veränderungen in der Fahrsituation.A significant proportion of the driving situation data represent environmental data that are supplied by various environmental sensors of the motor vehicle. Such environment sensors may include, for example, radar sensors, lidar sensors, ultrasound sensors and in particular also cameras, their image data as environmental data usually evaluated by various image processing algorithms and can be converted into useful, the driving situation descriptive information. Due to the high quality and thus amount of image data of modern cameras, it is known to use high-speed data connections and high-speed interfaces to the controller to quickly transmit the large amount of generated image data to the controller, so that in the image data contained, the driving situation descriptive information can be reacted as quickly as possible. In this case, the control units themselves have a mostly rather small-sized buffer memory in which also driving situation data of at least one previous time step can still be provided, in particular also with regard to the tracking of changes in the driving situation.
Eine wesentliche Aufgabe bei vollständig automatisch betriebenen Kraftfahrzeugen ist die Dokumentation von Unfällen. Nachdem das Kraftfahrzeug autonom betrieben wird, gilt die Aufmerksamkeit der Insassen üblicherweise nicht der Fahrsituation, so dass insbesondere bei der Klärung der Schuldfrage bei Unfällen weiteres Beweismaterial notwendig ist. Um dieses zu sichern, wurde im Stand der Technik bereits vorgeschlagen, bei einem detektierten Unfall, insbesondere also einer detektierten Kollision des Kraftfahrzeugs mit einem Objekt, was beispielsweise über einen Crashsensor geschehen kann, die zu diesem Zeitpunkt aktuellen Fahrsituationsdaten wenigstens teilweise zur späteren Auswertung abzuspeichern, insbesondere, was die Bilddaten wenigstens einer Kamera des Kraftfahrzeugs angeht. Dabei kann beispielsweise der Inhalt des bereits genannten "Pufferspeichers" bei der Detektion einer Kollision mittels eines Kollisionssensors (Crashsensors) "eingefroren" werden. Es sind auch Ausgestaltungen bekannt, bei denen der im Kollisionsfall auftretende Stromverlust innerhalb des Steuergeräts dazu führt, dass der letzte Inhalt des Pufferspeichers zur späteren Auswertung erhalten bleibt.An essential task in fully automatic motor vehicles is the documentation of accidents. After the motor vehicle is operated autonomously, the attention of the occupants is usually not the driving situation, so that in particular in the clarification of the question of guilt in accidents further evidence is necessary. In order to ensure this, it has already been proposed in the prior art, in the case of a detected accident, in particular a detected collision of the motor vehicle with an object, which can be done, for example, via a crash sensor, to at least partially store the current driving situation data at that time for later evaluation, in particular, as far as the image data of at least one camera of the motor vehicle is concerned. In this case, for example, the content of the aforementioned "buffer memory" in the detection of a collision by means of a collision sensor (crash sensor) are "frozen". Embodiments are also known in which the loss of power occurring in the event of a collision within the control unit results in the last content of the buffer memory being retained for later evaluation.
Dabei kann es allerdings zu dem Problem kommen, dass die zu diesem Zeitpunkt gespeicherten Fahrsituationsdaten nicht ausreichend sind, um den Unfallhergang hinreichend zu rekonstruieren bzw. eine Schuldfrage zu klären. Das bedeutet also, das vorliegende Datenmaterial kann zu gering für die beispielsweise gesetzlich geforderten Zwecke sein. Dies gilt insbesondere dann, wenn durch die Kollision die Sensorik bzw. die Stromversorgung innerhalb des Kraftfahrzeugs ausfällt und somit nur Fahrsituationsdaten vom unmittelbaren Unfallzeitpunkt vorliegen.However, this can lead to the problem that the driving situation data stored at this time are not sufficient for the To reconstruct accident history sufficiently or to clarify a question of guilt. This means that the available data material may be too small for the purposes required by law, for example. This applies in particular when the sensor system or the power supply within the motor vehicle fails as a result of the collision, and thus only driving situation data from the instant of the accident is present.
Der Erfindung liegt die Aufgabe zu Grunde, eine Möglichkeit zur besseren Dokumentation von Unfällen eines vollständig automatisch betriebenen Kraftfahrzeugs anzugeben.The invention is based on the object of specifying a possibility for better documentation of accidents of a completely automatically operated motor vehicle.
Zur Lösung dieser Aufgabe sind bei einem Verfahren der eingangs genannten Art erfindungsgemäß die Merkmale des Anspruchs 1 vorgesehen.To solve this problem, the features of
Die Erfindung schlägt mithin vor, ein dediziertes, zusätzliches Speichermittel innerhalb des Steuergeräts selbst vorzusehen und ebenso innerhalb des Steuergeräts selbst durch Auswertung von Fahrsituationsdaten ein Triggersignal zu generieren, das auf einen höchstwahrscheinlich bevorstehenden Kollisionsunfall des Kraftfahrzeugs hinweist, um wenigstens einen Teil der aktuellen Umfelddaten kontinuierlich in dieses Speichermittel einzuspeichern, so dass eine hervorragende Grundlage geschaffen wird, zu einem späteren Zeitpunkt das Zustandekommen des Unfalls auszuwerten, beispielsweise bezüglich einer Schuldfrage und/oder eines möglicherweise stattgefundenen Fehlers bei der vollständig automatischen Führung des Kraftfahrzeugs. Dabei wird das Speichermittel bevorzugt zusätzlich zu einem kleiner dimensionierten, kontinuierlich genutzten Pufferspeicher des Steuergeräts verwendet, so dass auch größere Datenmengen, wie sie beispielsweise durch Bilddaten einer Kamera zu erwarten sind, über den längeren Zeitraum innerhalb des Speichermittels vorgehalten werden können. Gerade im Hinblick auf moderne, in ihrer Qualität ständig ansteigende Umfeldsensoren steigt auch das von diesen Umfeldsensoren erhaltene Datenvolumen pro Zeitschritt, so dass innerhalb eines Pufferspeichers nur ein unzureichender Teil von Umfelddaten vorgehalten werden könnte. Im Rahmen der vorliegenden Erfindung wird dabei insbesondere ausgenutzt, dass es zum einen im Stand der Technik bereits vorgeschlagen wurde, Kollisionswahrscheinlichkeiten aus Fahrsituationsdaten zu ermitteln, zum anderen aber die entsprechenden Fahrsituationsdaten innerhalb des Steuergeräts, welches auch die vollständig automatische Führung des Kraftfahrzeugs steuert, ohnehin vorliegen, so dass sich auch hier eine Kollisionswahrscheinlichkeit ermitteln lässt, die zum Auslösen eines Triggersignals genutzt werden kann, das es mithin erlaubt, bereits vor dem Eintritt einer Kollision damit zu beginnen, Umfelddaten (und vorzugsweise auch weitere Fahrsituationsdaten und/oder Betriebsdaten des Kraftfahrzeugs) zur Dokumentation innerhalb des Steuergeräts aufzuzeichnen. Es wird also ein zusätzlicher Dokumentationszeitraum gewonnen.The invention therefore proposes to provide a dedicated, additional storage means within the control unit itself and also to generate within the control unit itself by evaluation of driving situation data, a trigger signal indicative of a most likely imminent collision accident of the motor vehicle to at least part of the current environment data continuously in storing this memory means, so that an excellent basis is created to evaluate at a later time the occurrence of the accident, for example, a question of guilt and / or a possibly occurred error in the fully automatic guidance of the motor vehicle. In this case, the storage means is preferably used in addition to a smaller, continuously used buffer memory of the controller, so that even larger amounts of data, as can be expected for example by image data of a camera over the longer period within the storage means can be kept. Especially with regard to modern, in their quality constantly increasing environmental sensors also increases of Data volumes obtained per time step from these environmental sensors, so that only an insufficient part of environmental data could be held within a buffer memory. In the context of the present invention, particular use is made of the fact that it has already been proposed in the prior art to determine collision probabilities from driving situation data, but in any case the corresponding driving situation data within the control unit, which also controls the fully automatic guidance of the motor vehicle, anyway , so that a collision probability can be determined here as well, which can be used to trigger a trigger signal, which thus allows to begin prior to the occurrence of a collision environment data (and preferably also other driving situation data and / or operating data of the motor vehicle) Record documentation within the controller. Thus, an additional documentation period is gained.
Dadurch, dass sowohl die Ermittlung der Kollisionswahrscheinlichkeit als auch die Erzeugung des Triggersignals innerhalb des Steuergeräts selbst stattfindet und auch das Speichermittel innerhalb des Steuergeräts selber vorgesehen ist, muss kein langsamer Fahrzeugbus genutzt werden, der eine deutliche Verzögerung in der Aufzeichnung der Umfelddaten mit sich bringen würde. Vielmehr kann äußerst schnell innerhalb des Steuergeräts auf einen bevorstehenden Unfall reagiert werden und eine erweiterte Aufzeichnung und Vorhaltung wenigstens eines Teiles der Umfelddaten, insbesondere von Bilddaten einer Kamera, erfolgen.The fact that both the determination of the collision probability and the generation of the trigger signal takes place within the control unit itself and also the storage means is provided within the control unit itself, no slow vehicle bus must be used, which would bring a significant delay in recording the environmental data with it , Rather, it is possible to react extremely quickly within the control unit to an imminent accident and to carry out an extended recording and provision of at least a part of the surrounding data, in particular image data of a camera.
In diesem Zusammenhang ist es zudem von besonderem Vorteil, wenn ein schnelle Zugriffszeiten erlaubendes Speichermittel verwendet wird. Vorzugsweise kann mithin ein SSD und/oder eMMC als Speichermittel verwendet werden, so dass so schnell wie möglich bei einem bevorstehenden Unfall ein Speichern der zur Dokumentation zweckmäßigen Dokumentationsdaten, insbesondere also des Teils der Umfelddaten, erfolgen kann. Dies gemeinsam mit der Tatsache, dass das Triggersignal ein internes Signal des Steuergeräts ist, sorgt für eine maximale Ausnutzung der verfügbaren Zeit zum Speichern wenigstens des Teils der Umfelddaten sowie gegebenenfalls weiterer Dokumentationsdaten.In this context, it is also particularly advantageous if a fast access times permitting storage means is used. Preferably, therefore, an SSD and / or eMMC can be used as a storage means, so that as quickly as possible in an imminent accident, storage of the documentary data suitable for documentation, in particular of the part of the environment data, can take place. This, together with the fact that the trigger signal is an internal signal of the controller, ensures maximum utilization of the available time for Saving at least the part of the environment data and optionally further documentation data.
Zusammenfassend wird also bereits vor der Kollision begonnen, wenigstens einen Teil der Umfelddaten in ein innerhalb des Steuergeräts vorgesehenes Speichermittel einzuspeichern, so dass eine früher beginnende Dokumentation der Kollision genauso möglich wird wie ein Vorhalt einer größeren Menge von Informationen zur Dokumentation der Kollision.In summary, therefore, it is already started before the collision to store at least a part of the environment data in a memory means provided within the control device, so that an earlier beginning documentation of the collision is just as possible as a provision of a larger amount of information to document the collision.
Wie bereits erwähnt, ist es im Rahmen der vorliegenden Erfindung besonders zweckmäßig, wenn der bei Überschreitung des Schwellwerts durch die Kollisionswahrscheinlichkeit zu speichernde Teil der Umfelddaten wenigstens Bilddaten einer Kamera als Umfeldsensor umfassend gewählt wird. Der zu speichernde Teil der Umfelddaten kann bevorzugt ferner Radardaten eines Radarsensors als Umfeldsensor umfassen, nachdem auch Radardaten bei der Analyse eines Unfalls besonders nützliche Informationen liefern können, insbesondere zu den relativen Geschwindigkeiten und/oder Abständen. Gerade hinsichtlich der Kamera ist es ferner vorteilhaft, wenn die Umfelddaten, insbesondere der zu speichernde Teil der Umfelddaten, wenigstens teilweise über eine Hochgeschwindigkeitsschnittstelle an das Steuergerät übermittelt werden.As already mentioned, it is particularly expedient in the context of the present invention if the part of the environmental data to be stored when the threshold value is exceeded by the collision probability is selected to comprise at least image data from a camera as environmental sensor. The part of the environmental data to be stored may preferably also include radar data of a radar sensor as environment sensor, after radar data in the analysis of an accident can also provide particularly useful information, in particular relative speeds and / or distances. Especially with regard to the camera, it is also advantageous if the environment data, in particular the part of the environmental data to be stored, are transmitted to the control unit at least partially via a high-speed interface.
Der Schwellwert kann zweckmäßigerweise in einem Bereich von 40 bis 70 %, insbesondere als 50 %, gewählt werden. Dabei hat sich ein Wert von 50 % bei der Verwendung üblicher Algorithmen zur Ermittlung der Kollisionsgeschwindigkeit, wie sie im Stand der Technik bekannt sind, als zweckmäßig erwiesen, um sowohl einen geeignet dimensionierten Zeitraum auch vor der eigentlichen Kollision zu erhalten, zum anderen aber nicht zu häufig das Triggersignal zu erzeugen, mithin zu viele Fälle von Fehlalarm, auf die kein tatsächlicher Unfall folgt, abzudecken.The threshold value can be suitably selected in a range of 40 to 70%, in particular 50%. In this case, a value of 50% has proven to be expedient in the use of conventional algorithms for determining the collision speed, as are known in the prior art, in order not only to obtain a suitably dimensioned period of time before the actual collision, but also not often to generate the trigger signal, thus covering too many false alarms that are not followed by an actual accident.
Erfindungsgemäß ist vorgesehen, dass mit dem Erhalt des Triggersignals bei einem einen Grenzwert unterschreitenden freien Speicherplatz des Speichermittels wenigstens ein Teil der in einem früheren Zeitraum gespeicherten Umfelddaten gelöscht werden. Auf diese Weise steht ein hinreichender oder insbesondere auch der komplette freie Speicherplatz des Speichermittels zur Verfügung und kann für relevante Daten genutzt werden.According to the invention it is provided that with the receipt of the trigger signal at a limit of a limit below free space of the storage means at least a part of the stored in an earlier period Environment data are deleted. In this way, a sufficient or especially the complete free storage space of the storage means is available and can be used for relevant data.
In einer derartigen Ausgestaltung können insbesondere auch zuvor gespeicherte Umfelddaten gelöscht werden, beispielsweise, wenn ohne Eintritt eines tatsächlichen Unfalls nach einer Überschreitung des Schwellwerts durch die Kollisionswahrscheinlichkeit wenigstens der Teil der Umfelddaten für einen Zeitraum gespeichert wurde, bis der bzw. der weitere Schwellwert wieder unterschritten war. Dabei sei im Übrigen noch angemerkt, dass sowohl zur Aktivierung als auch zur Deaktivierung zweckmäßig derselbe Schwellwert herangezogen werden kann; gegebenenfalls kann als weiterer Schwellwert auch ein etwas niedrigerer Wert als der Schwellwert zur Erzeugung des Triggersignals gewählt werden, um ein Speichern für kurze Zeiträume, dass dann sofort wieder abgebrochen wird, zu vermeiden und in jedem Fall eine kontinuierliche Aufzeichnung über einen nennenswerten Zeitraum zu erreichen, auch wenn gegebenenfalls kein Unfall stattfinden wird. Beispielsweise kann als der Schwellwert zur Erzeugung des Triggersignals 50 %, als weiterer Schwellwert 40 % gewählt werden.In such an embodiment, in particular previously stored environment data can be deleted, for example, if without occurrence of an actual accident after exceeding the threshold by the collision probability at least the part of the environment data was stored for a period until the or the further threshold was again fallen below , It should be noted, moreover, that both the activation and the deactivation can advantageously be based on the same threshold value; if appropriate, a somewhat lower value than the threshold value for generating the trigger signal may also be selected as the further threshold value, in order to avoid storage for short periods, which is then aborted immediately, and in any case to achieve continuous recording over a significant period of time, even if no accident will take place. For example, 50% can be selected as the threshold value for generating the trigger signal, and 40% as the further threshold value.
Dabei sei darauf hingewiesen, dass zweckmäßig die Auswertung der Kollisionswahrscheinlichkeit nach Eintritt der Kollision, die beispielsweise durch einen Kollisionssensor des Kraftfahrzeugs festgestellt werden kann, abgebrochen werden kann, wenn dann noch elektrische Energie innerhalb des Steuergeräts vorliegt. In einem solchen Fall kann beispielsweise vorgesehen sein, noch für eine vorbestimmte Zeitspanne nach dem Eintreten der Kollision wenigstens den Teil der Umfelddaten in dem Speichermittel abzuspeichern oder aber bereits mit dem Eintritt der Kollision den Zeitraum des Speicherns im Speichermittel zu beenden.It should be noted that expedient the evaluation of the collision probability after the occurrence of the collision, which can be determined for example by a collision sensor of the motor vehicle, can be canceled if then there is still electrical energy within the controller. In such a case, for example, it may be provided to store at least the part of the environment data in the storage means for a predetermined period of time after the occurrence of the collision or to end the period of storage in the storage means already with the occurrence of the collision.
Zur Ermittlung der Kollisionswahrscheinlichkeit können verschiedenste, im Stand der Technik im Hinblick auf Sicherheitssysteme bereits vorgeschlagene Berechnungsverfahren bzw. Algorithmen herangezogen werden, die vorliegend nicht mehr genauer dargelegt werden müssen. Insbesondere kann vorgesehen sein, dass zur Ermittlung der Kollisionswahrscheinlichkeit eine Prädiktion des Verhaltens von durch die Fahrsituationsdaten beschriebenen Verkehrsteilnehmern, umfassend das eigene Kraftfahrzeug, vorgenommen wird. Bekannte Ansätze, insbesondere in Sicherheitssystemen, nutzen also Vorausberechnungsalgorithmen, um festzustellen, wie wahrscheinlich eine Kollision in einem Vorausberechnungszeitraum ist.To ascertain the probability of collision, it is possible to use a wide variety of calculation methods or algorithms already proposed in the prior art with regard to security systems, which in the present case no longer have to be explained in more detail. In particular, can be provided that for the determination of the probability of collision, a prediction of the behavior of road users described by the driving situation data, comprising the own motor vehicle, is made. Thus, known approaches, especially in security systems, use pre-calculation algorithms to determine how likely a collision is in a pre-computation period.
Neben dem Verfahren betrifft die Erfindung auch ein Kraftfahrzeug, aufweisend ein Fahrzeugsystem zur vollständig automatischen Führung des Kraftfahrzeugs mit einem zur Durchführung des erfindungsgemäßen Verfahrens ausgebildeten Steuergerät und wenigstens einem Umfeldsensor. Sämtliche Ausführungen bezüglich des erfindungsgemäßen Verfahrens lassen sich analog auf das erfindungsgemäße Kraftfahrzeug übertragen, mit welchem mithin ebenso die bereits genannten Vorteile erhalten werden können.In addition to the method, the invention also relates to a motor vehicle, comprising a vehicle system for completely automatic guidance of the motor vehicle with a control device designed for carrying out the method according to the invention and at least one surroundings sensor. All statements relating to the method according to the invention can be analogously transferred to the motor vehicle according to the invention, with which therefore also the already mentioned advantages can be obtained.
Ein erfindungsgemäßes Computerprogramm ist beispielsweise direkt in einen Speicher eines Steuergeräts eines Kraftfahrzeugs ladbar und weist Programmmittel auf, um die Schritte eines erfindungsgemäßen Verfahrens auszuführen, wenn das Computerprogramm in dem Steuergerät des Kraftfahrzeugs ausgeführt wird. Das Computerprogramm kann auf einem elektronisch lesbaren Datenträger gespeichert sein, welcher mithin darauf gespeicherte elektronisch lesbare Steuerinformationen umfasst, welche zumindest ein erfindungsgemäßes Computerprogramm erfassen und derart ausgestaltet sind, dass sie bei Verwendung des Datenträgers in einem Steuergerät eines Kraftfahrzeugs ein erfindungsgemäßes Verfahren durchführen.A computer program according to the invention is for example directly loadable into a memory of a control unit of a motor vehicle and has program means for carrying out the steps of a method according to the invention when the computer program is executed in the control unit of the motor vehicle. The computer program can be stored on an electronically readable data carrier which thus contains electronically readable control information stored thereon, which record at least one computer program according to the invention and are designed such that they perform a method according to the invention when the data carrier is used in a control unit of a motor vehicle.
Weitere Vorteile und Einzelheiten der vorliegenden Erfindung ergeben sich aus den im Folgenden beschriebenen Ausführungsbeispielen sowie anhand der Zeichnungen. Dabei zeigen:
- Fig. 1
- eine Prinzipskizze eines erfindungsgemäßen Kraftfahrzeugs, und
- Fig. 2
- den Aufbau eines Steuergeräts eines Kraftfahrzeugs gemäß
Fig. 1 .
- Fig. 1
- a schematic diagram of a motor vehicle according to the invention, and
- Fig. 2
- the structure of a control device of a motor vehicle according to
Fig. 1 ,
In dem Steuergerät 3 werden die Fahrsituationsdaten ausgewertet, um Fahreingriffe beschreibende Steuersignale für entsprechende Aktoren des Kraftfahrzeugs 1 zu erzeugen, wobei vorliegend lediglich beispielhaft ein Motor 6, eine Bremseinrichtung 7 und ein Lenksystem 8 gezeigt sind.In the
Zur Detektion einer tatsächlich stattfindenden Kollision kann das Kraftfahrzeug 1 ferner auch beispielsweise als Beschleunigungssensoren ausgebildete Crashsensoren 9 umfassen. Diese liefern ihre entsprechenden Sensordaten ebenso an das Steuergerät 3.For detecting an actual collision, the
Fig. 3 zeigt den Aufbau des Steuergeräts 3 genauer. Wenigstens ein Teil der Umfelddaten, insbesondere die Umfelddaten der Kameras 4, werden über eine Hochgeschwindigkeitsschnittstelle 10 entgegengenommen. Das Steuergerät 3 weist zudem noch weitere Interfaces auf, beispielsweise zu einem Fahrzeugbussystem und/oder für andere Direktverbindungen.Fig. 3 shows the structure of the
In einer Recheneinrichtung 12 des Steuergeräts 3, die einen oder mehrere Prozessoren umfassen kann, wird durch eine Führungseinheit 13 der vollständig automatische Führungsbetrieb des Kraftfahrzeugs 3 realisiert. Zusätzlich hierzu bzw. in diese integriert, wird durch die Recheneinrichtung 12 jedoch auch eine Kollisionsdokumentationseinheit 14 realisiert. Fahrsituationsdaten, die durch die Recheneinrichtung 12 ausgewertet werden, werden zeitweise in einem Pufferspeicher 15 des Steuergeräts 3 abgespeichert. Zusätzlich zu dem Pufferspeicher 15 weist das Steuergerät 3 jedoch auch ein vom Speicherplatz her größer als der Pufferspeicher 15 dimensioniertes Speichermittel 16, vorliegend ein SSD, auf, in dem Dokumentationsdaten bezüglich eines Unfalls des Kraftfahrzeugs 1 aufgezeichnet werden können.In a
Hierzu wertet die Kollisionsdokumentationseinheit 14 die Fahrsituationsdaten weitergehend aus, um eine Kollisionswahrscheinlichkeit des Kraftfahrzeugs 1 mit einem Fremdobjekt zu ermitteln. Übersteigt diese Kollisionswahrscheinlichkeit einen Schwellwert, hier 50 %, wird ein internes Triggersignal in dem Steuergerät 3 erzeugt, welches dafür sorgt, dass ein definierter Teil der Umfelddaten, gemeinsam mit anderen definierten Fahrsituationsdaten und/oder Betriebsdaten des Kraftfahrzeugs 1, ab nun kontinuierlich in das Speichermittel 16 eingespeichert wird, wobei dieses bei Erhalt des Triggersignals gegebenenfalls auch zuerst wenigstens teilweise gelöscht werden kann, insbesondere, falls darauf noch Dokumentationsdaten gespeichert sind, die aus einer Fahrsituation stammen, in der zwar eine hohe Kollisionswahrscheinlichkeit vorlag, aber kein Unfall stattgefunden hat. Der definierte, zu speichernde Teil der Umfelddaten umfasst vorliegend wenigstens die Bilddaten der Kameras 4 und die Radardaten der Radarsensoren 5. Der Zeitraum, für den solcherlei jeweils aktuelle Dokumentationsdaten in dem Speichermittel 16 eingespeichert werden, kann sich zum einen bemessen, bis die Kollisionswahrscheinlichkeit unter den oder einen weiteren Schwellwert, hier 40 % fällt. Tritt jedoch tatsächlich eine Kollision ein, was durch die Kollisionssensoren 9 feststellbar ist, kann auch der Eintritt der Kollision das Ende des Einspeicherns markieren; denkbar ist es jedoch auch, insbesondere, wenn die Stromversorgung des Steuergeräts 3 erhalten bleibt, für eine vorbestimmte Zeitspanne über den Kollisionszeitpunkt hinaus weiter Dokumentationsdaten umfassend wenigstens den definierten Teil der Umfelddaten in das Speichermittel 16 einzuspeichern.For this purpose, the
Auf diese Weise werden Dokumentationsdaten bereits vor einer eintretenden Kollision in eine hochqualitative Auswertung und Analyse des Unfalls erhaltender Menge aufbewahrt. Die Dokumentationsdaten können zu einem späteren Zeitpunkt ausgelesen und analysiert werden.In this way, documentation data is already stored prior to an occurring collision in a high-quality evaluation and analysis of the accident-receiving amount. The documentation data can be read out and analyzed at a later time.
Es sei noch darauf hingewiesen, dass die Kollisionswahrscheinlichkeit, die hier bestimmt wird, auch für andere Zwecke genutzt werden kann, beispielsweise in einem ebenso durch das Steuergerät 3 realisierten Sicherheitssystem, das Insassenrückhaltemittel präkonditioniert oder dergleichen.It should also be pointed out that the collision probability which is determined here can also be used for other purposes, for example in a security system likewise implemented by the
Claims (7)
dadurch gekennzeichnet,
dass in dem Steuergerät (3) durch weitere Auswertung der Fahrsituationsdaten eine Kollisionswahrscheinlichkeit für das Eintreten einer Kollision mit einem Fremdobjekt ermittelt wird, wobei bei Überschreitung eines Schwellwerts für die Kollisionswahrscheinlichkeit ein Triggersignal erzeugt wird, bei dessen Vorliegen begonnen wird, wenigstens einen Teil der aktuellen Umfelddaten in einem Zeitraum bis wenigstens zum Eintritt der Kollision und/oder bis zum Absinken der Kollisionswahrscheinlichkeit unter den und/oder einen weiteren Schwellwert kontinuierlich in einem Speichermittel (16) des Steuergeräts (3), zu einem späteren Zeitpunkt abrufbar, abzuspeichern, wobei mit dem Erhalt des Triggersignals bei einem einen Grenzwert unterschreitenden freien Speicherplatz des Speichermittels (16) wenigstens ein Teil der in einem früheren Zeitraum gespeicherten Umfelddaten gelöscht werden.Method for operating a control device (3) of a motor vehicle (1), wherein the control device (3) is designed for completely automatic guidance of the motor vehicle (1) by generating driving situation data comprising environmental data of at least one environmental sensor of the motor vehicle (1) which is connected to the control device (3 ), are evaluated,
characterized,
that in the control unit (3) a collision probability of the occurrence of a collision in which a trigger signal is generated when exceeding a threshold value for the probability of collision is further evaluation of the driving situation data determined with a foreign object, is started in the presence of which at least a portion of the current environment data in a period until at least the occurrence of the collision and / or until the collision probability drops below the and / or a further threshold continuously in a memory means (16) of the control device (3), retrievable at a later time, with the receipt the trigger signal at a free space of the memory means (16) which falls below a limit value, at least a part of the environment data stored in an earlier time period is deleted.
dadurch gekennzeichnet,
dass der bei Überschreitung des Schwellwerts durch die Kollisionswahrscheinlichkeit zu speichernde Teil der Umfelddaten wenigstens Bilddaten einer Kamera (4) als Umfeldsensor umfassend gewählt wird und/oder die Umfelddaten wenigstens teilweise über eine Hochgeschwindigkeitsschnittstelle (10) an das Steuergerät (3) übermittelt werden.Method according to claim 1,
characterized,
in that the part of the environmental data to be stored when the threshold value is exceeded by the collision probability is selected comprising at least image data of a camera (4) as environmental sensor and / or the environmental data is transmitted at least partially via a high-speed interface (10) to the control device (3).
dadurch gekennzeichnet,
dass das Speichermittel (16) zusätzlich zu einem kleiner dimensionierten, kontinuierlich genutzten Pufferspeicher (15) des Steuergeräts (3) verwendet wird.Method according to claim 1 or 2,
characterized,
in that the storage means (16) is used in addition to a smaller sized, continuously used buffer memory (15) of the control device (3).
dadurch gekennzeichnet,
dass der Schwellwert in einem Bereich von 40 bis 70% gewählt wird.Method according to one of the preceding claims,
characterized,
that the threshold is selected in a range of 40 to 70%.
dadurch gekennzeichnet,
dass zur Ermittlung der Kollisionswahrscheinlichkeit eine Prädiktion des Verhaltens von durch die Fahrsituationsdaten beschriebenen Verkehrsteilnehmern, umfassend das eigene Kraftfahrzeug (1), vorgenommen wird.Method according to one of the preceding claims,
characterized,
in that a prediction of the behavior of road users described by the driving situation data, comprising the own motor vehicle (1), is undertaken to determine the collision probability.
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DE102004045813B4 (en) * | 2004-09-22 | 2017-09-28 | Robert Bosch Gmbh | System and method for anticipating an accident hazard situation |
DE102013212092B4 (en) * | 2013-06-25 | 2024-01-25 | Robert Bosch Gmbh | Method and device for operating a pedestrian protection device of a vehicle, pedestrian protection device |
DE102015218762A1 (en) * | 2015-09-29 | 2017-03-30 | Robert Bosch Gmbh | Method and device for accident data storage for a vehicle |
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DE10050243A1 (en) * | 2000-10-11 | 2002-04-25 | Volkswagen Ag | Diagnosis and/or accident detail documentation system for vehicles has several operation status determination units storing status information of unusual status and disabling overwriting operation of storage space |
DE10231558A1 (en) * | 2001-07-11 | 2003-01-30 | Bosch Gmbh Robert | Automatic deceleration triggering system for vehicle initiates deceleration to avoid collision or to reduce impact gravity with object using radar or light detector |
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EP3546308B1 (en) | 2022-01-05 |
DE102018204883A1 (en) | 2019-10-02 |
DE102018204883B4 (en) | 2020-09-17 |
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