EP3569469A1 - Système permettant d'éviter une collision pour un véhicule et procédé correspondant - Google Patents

Système permettant d'éviter une collision pour un véhicule et procédé correspondant Download PDF

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Publication number
EP3569469A1
EP3569469A1 EP19171902.0A EP19171902A EP3569469A1 EP 3569469 A1 EP3569469 A1 EP 3569469A1 EP 19171902 A EP19171902 A EP 19171902A EP 3569469 A1 EP3569469 A1 EP 3569469A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
collision avoidance
driver
data
output device
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Withdrawn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
EP19171902.0A
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German (de)
English (en)
Inventor
Marton CSUTORAS
Attila ISOCZKI
Miklos Kremer
Gergo SOMOGYI
Gabor Nagy
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.)
Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH
Original Assignee
Knorr Bremse Systeme fuer Schienenfahrzeuge 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 Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH filed Critical Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH
Publication of EP3569469A1 publication Critical patent/EP3569469A1/fr
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0081—On-board diagnosis or maintenance

Definitions

  • the present invention relates to a collision avoidance system for a vehicle, in particular a rail vehicle. Furthermore, the present invention relates to a method for operating such a collision avoidance system.
  • a rail vehicle having a vehicle control and at least one detection device connected to the vehicle control, wherein the vehicle control is designed to influence at least one state parameter of the vehicle, the at least one detection device being configured to display a current state parameter of the vehicle and / or the surroundings of the vehicle to capture and output a corresponding status signal.
  • the shows WO 2016/042352 A1 a safety system for avoiding a collision of a vehicle, having a calculation unit that is capable of calculating a plurality of regions of zones, having one or more radar sensors configured to detect a relative position of an object to the vehicle and having a determination unit that is suitable to determine a zone in which the object is positioned, based on the relative position detected by the one or more radar sensors, and with a safety unit that is suitable for preventing collision between the vehicle and the vehicle To seize object ..
  • the shows WO 2017/042044 A1 A method for warning road users in a rail vehicle by means of sound signals or Light signals.
  • the shows WO 97/31810 A1 a system for warning a driver of a vehicle of the presence of an obstacle in a lane of the vehicle.
  • the WO 2015/150340 A1 a method for automatically assisting a driver of a lane-bound vehicle, in particular a rail vehicle.
  • the shows EP 2 808 224 A1 a system for monitoring the danger zone of a railway machine with a detection device for detecting objects located in a surveillance area.
  • a collision avoidance system for a vehicle in particular rail vehicle is provided with at least one optical inspection device for detecting and checking at least one driving behavior of at least one driver and for generating corresponding Verification data, with at least one sensor device for detecting at least one object outside the vehicle and for generating corresponding object data, with at least one interface element for connection to a subsystem, in particular a brake control system, a traction control system, a power supply system or leveling system of a rail vehicle, and / or to a data supply system, in particular electrical system and / or bus system of the vehicle for providing a plurality of operating parameters of the vehicle in the collision avoidance system and at least an evaluation device, wherein by means of the evaluation device a plurality of operating parameters of the vehicle and the object data and / or further the inspection data are evaluated such that in the case of at least one impending collision between the object and the vehicle and / or that in the case of at least one er
  • the invention is based on the basic idea that the overall safety of the collision avoidance system can be further improved by continuous or interval-type checking of the driving behavior of the vehicle driver.
  • the review of the driving behavior can be done in particular regardless of a particular traffic situation.
  • the evaluation device only evaluates the verification data, in which context it does not evaluate the operating parameters and the object data.
  • Such a (wrong) behavior for example, be such that the driver does not position his hand on the drive switch or his foot on the pedal or another actuator of the safety drive circuit while driving.
  • Other behaviors in this regard may include the use of a cellphone or smartphone, or eating, drinking or smoking while driving.
  • the physical condition of the vehicle driver can be checked by means of the checking device. Furthermore, it can be checked by means of the checking device, whether the driver mainly directs his view of the roadway while driving. Another such application is, for example, a fatigue warning device or a Attention warning device.
  • the checking of the driving behavior can also take place in particular depending on at least one respective traffic situation or before a collision between the object and the vehicle.
  • the evaluation device also evaluates the operating parameters and the object data in addition to the check data in this context.
  • it can be checked by means of the evaluation device in this regard, whether the behavior of the driver complies with the traffic regulations.
  • Such behavior may be, for example, the driving behavior of the driver before an intersection, in front of a level crossing, in a busy road, in a forest area with increased debris, etc.
  • the vehicle is designed as a rail vehicle of public transport and regional traffic.
  • the collision avoidance system can be connected to the interface element either to a subsystem of a vehicle, in particular rail vehicle. It is also conceivable that the interface element can be connected to a data supply system.
  • a subsystem of the vehicle in particular of a rail vehicle, may be the brake control system, the traction control system, the energy supply system or the leveling system of the vehicle, in particular rail vehicle.
  • the data supply system can be, in particular, the on-board network or the bus system. It is conceivable that each of the mentioned systems can be used alone or in combination with one of the other systems here.
  • the optical checking device has at least one video recording device, in particular a video camera, for generating the checking data.
  • a video recording device is particularly suitable for human vehicle drivers to check their respective driving behavior. Because of such a device movements or movement pattern of the driver can be particularly easily and accurately recorded and checked in the connection.
  • the optical inspection device the Verification data generated continuously.
  • the optical inspection means generates the check data at intervals. Accordingly, the optical checking device can check the vehicle driver as a function of an expected collision probability or traffic hazard probability that can be determined by the evaluation device.
  • the evaluation device has at least one image evaluation device by means of which the driving behavior of the vehicle driver can be evaluated on the basis of the verification data.
  • the image evaluation device is therefore particularly important and advantageous because it or the assessment algorithms provided to it a safe and efficient evaluation of the generated verification data is possible in the first place.
  • the image evaluation device can either be part of the evaluation device or be in data connection with it.
  • the image evaluation device may further comprise an artificial intelligence device and / or a neural network.
  • the evaluation device is designed as a central image processing device of the collision avoidance system.
  • the evaluation device can be designed as a self-learning evaluation device.
  • the verification data can be evaluated by means of the evaluation device such that the driving behavior of the vehicle driver can be evaluated independently of the operating parameters and the object data.
  • the evaluation device can check the actually performed actions and movements of the vehicle driver within the driver's cab of the rail vehicle.
  • the evaluation device or, in this case, the image evaluation device deliberately disregards the traffic events detected by means of the object data.
  • the evaluation device may in turn also have an artificial intelligence device and / or a neural network.
  • the evaluation device is incidentally as the central computing and processing means of Collision avoidance system formed.
  • the evaluation device can be designed as a self-learning evaluation device.
  • At least a first warning signal can be generated by means of the evaluation device, if by means of the evaluation device a faulty driving behavior of the vehicle driver can be evaluated independently of the operating parameters and the object data.
  • the generation of such a first warning signal can alert the driver in real time to his misconduct and to cause him / her as quickly as possible to refrain from the corresponding misconduct.
  • Such a warning signal thus increases within a short time or in real time the attention of the driver and thus also ensures an increase in traffic safety.
  • the warning signal can also be adapted to the respective different faulty driving behavior and continuously adapted by means of the self-learning image evaluation device on the basis of faulty driving patterns.
  • the operating parameters and / or the object data as well as the checking data can be evaluated by means of the evaluation device such that the driving behavior of the vehicle driver can be evaluated as a function of the operating parameters and / or the object data.
  • Such operating parameters may be, for example, acceleration, speed, load, weight, direction of travel, etc. of the rail vehicle.
  • traffic-participating objects are for example plants, animals, other vehicles or pedestrians, traffic signs (eg warning signs), traffic facilities (such as traffic lights) and / or the road or their current state or the route.
  • the object data include in particular the traffic situation of the rail vehicle in its external environment (and the respective objects therein), which can be detected by the sensor device.
  • the sensor device for detecting at least one object outside the vehicle is as a radar device, LIDAR device (Light Detection And Ranging), camera device, infrared camera device, night vision camera device, stereo camera device and / or ultrasonic distance sensor or as any Combination of these sensor devices formed. Due to the additional involvement of the operating parameters and the inspection data of the vehicle driver, it is therefore possible to evaluate a malfunction of the vehicle driver before it can even lead to a critical traffic situation or a collision as a result of this behavior. An example of this situation is overlooking a stop sign of a traffic light in front of an intersection. Such an evaluation described above is a fundamental complement to the collision avoidance system for increasing vehicle and traffic safety.
  • At least one second warning signal can be generated by means of the evaluation device, if a faulty driving behavior of the vehicle driver can be evaluated as a function of the operating parameters and / or the object data.
  • the output of such a second warning signal is particularly advantageous with regard to an even more accurate or more detailed information output to the driver.
  • the intensity of the second warning signal can be greater than that of the first warning signal.
  • the output device has at least one first output device for outputting the first warning signal, and wherein the output device has at least one second output device for outputting the second warning signal.
  • the division into a first and second output device is in particular for an even more precise distinction between first and second warning signal particularly important and beneficial.
  • the more relevant for the vehicle safety second warning signal can be issued much stronger, or louder and brighter to the driver.
  • the first and second warning signals can be output by a common output device, which is driven differently depending on the first and second warning signals.
  • the first output device has at least one optical output device and / or at least one acoustic output device and / or at least one haptic output device
  • the second output device has at least one optical output device and / or at least one acoustic output device and / or at least one haptic output device having.
  • the first output device and the second output device are designed in particular as optical and acoustic output devices.
  • the acoustic output devices have the advantage that the driver does not have to direct his eyes from the road or driving route with full information content. By means of the optical output devices, the available information for the driver can be clearly displayed in a front area of the vehicle cabin, which is already positioned in the field of vision of the driver.
  • the redundant output device important for the traffic safety of the collision avoidance system is provided by the optical output devices.
  • the driver can be issued particularly clearly visible signal colors or warning colors, which further increases its attention and thus the traffic safety.
  • the optical output devices have a projection device which project the warning signal onto a windshield.
  • a plurality of acoustic output devices are arranged in the driver's cab such that they surround the driver. This surrounding arrangement of the acoustic output devices has the particular advantage that the first and second warning signal can be output to the driver dimensionally. Consequently, the position of an object relative to the vehicle can be determined by means of an acoustic signal arranged correspondingly to the driver Output device are output.
  • the first and the second output device can be designed in the form of a haptic output device.
  • the first haptic output device may for example be part of a travel switch.
  • the second haptic output device may be part of an actuating element, for example in the form of the pedal of the safety drive circuit.
  • the respective first and second haptic output devices may also be arranged in reverse.
  • the operating parameters comprise one or more coefficients of friction between the vehicle and at least one roadway bearing the vehicle.
  • An operating parameter which is likewise essential for the operation of the collision avoidance system or of the rail vehicle is the coefficient of friction between the rail vehicle and the roadway on which the vehicle is traveling or which carries the vehicle.
  • the knowledge of the friction coefficient is particularly important because it reflects the current change of the road condition most recent and realistic and has a great influence on the braking distance of the vehicle and on the compliance with the traffic rules. The braking distance in turn has a decisive influence on the probability of collision or on a faulty driving behavior of the vehicle driver.
  • the collision avoidance system has at least one computing device for calculating at least one vehicle braking distance and generating corresponding vehicle braking distance data and that performs the calculation of the vehicle braking distance based at least in part on the friction coefficients.
  • the computing device also performs the calculation of the vehicle braking distance based on the other operating parameters.
  • the computing device is connected to the interface element Data connection, so that the evaluation device can also incorporate the Anlagenbremsweghuss in the evaluation or in the comparison with the object data.
  • the encouragedbremswegberries are therefore assigned to the operating parameters or can be construed as operating parameters in the context of this invention.
  • the collision avoidance system and / or the vehicle has at least one device for continuous or interval-type determination of the friction coefficients. Determining the coefficient of friction directly inside the vehicle provides the most accurate and shortest possible time to grasp the friction coefficient. Since fractions of a second decide on a possible collision in a collision avoidance system, a particularly rapid and reliable provision or determination of this coefficient is particularly advantageous, especially with regard to increased traffic safety.
  • the device for determining the coefficients of friction has at least one sensor device.
  • the sensor device is designed as a sensor device for detecting at least one rotational speed of at least one wheel of the vehicle.
  • a plurality of sensor devices can each be arranged in the region of a vehicle wheel in order to detect its rotational speed.
  • the device for determining the coefficients of friction can determine the respective wheel slip.
  • the wheel slip can be determined in particular during acceleration or deceleration phases of the vehicle. This is achieved by balancing the tangential velocity of the vehicle wheel at the point of contact with the rail and the actual vehicle speed.
  • the actual vehicle speed is e.g. determinable via a GPS device and / or a vehicle odometer.
  • GPS Global System for Mobile Communications
  • LBS location-based services
  • the location information may be, for example, via fixed and / or known points. It is conceivable, in particular, for a distance measurement to be carried out at the fixed and / or known points.
  • the defined and / or known points may in particular be a rail vehicle device such as a beacon, a transition, an intersection, a stop, a signal, a traffic light or the like.
  • the sensor device has at least one sensor element for detecting at least one control current of at least one magnetic rail brake and at least one sensor element for detecting at least one force which acts on at least one suspension of the magnetic rail brake.
  • the means for determining the friction coefficients from a ratio of a tensile force acting on the magnetic rail brake (depending on the control current) and the force acting in the suspension force can determine the corresponding friction coefficient.
  • a plurality of such sensor devices can also be arranged in each case in the region of a magnetic rail brake in order to detect the correspondingly acting forces.
  • the device for determining the friction coefficients has at least one sensor device for detecting at least one property of the roadway, in particular at least one rail.
  • Such properties of the roadway or a rail may be, for example, brightness, roughness, conductivity, color, etc.
  • the detection of the property of the roadway can be done either contactless or by contact of the sensor device with the rail.
  • a plurality of such sensor devices can each in Be arranged portion of a rail traversed by the vehicle to detect the corresponding properties of the rail. If the device for determining the friction coefficients has a plurality of the aforementioned sensor devices, it is conceivable that this averages the determined friction coefficients.
  • the device for determining the coefficients of friction is in data connection with the interface element and by means of which the friction coefficients determined continuously or at intervals or at intervals can be transmitted to the interface element. Since the interface element is also in data communication with the evaluation device, current evaluation coefficients can thus be provided to the evaluation device continuously or at intervals.
  • This type of provision significantly increases the speed of the reaction or action of the collision avoidance system, since changing road conditions can be processed virtually in real time by means of the evaluation unit.
  • An example of an application are, for example, rapidly changing weather conditions, which in the form of precipitation or ice have a considerable influence on the coefficient of friction. Thereby, the overall safety of both the collision avoidance system and the vehicle as a whole can be significantly increased and improved.
  • verification data are evaluated to the effect that the driving behavior of the driver is evaluated independently of the operating parameters and the object data.
  • a first warning signal is generated if a faulty driving behavior of the vehicle driver is evaluated independently of the operating parameters and the object data.
  • the operating parameters and / or the object data as well as the verification data are evaluated in such a way that the driving behavior of the vehicle driver is evaluated as a function of the operating parameters and / or the object data.
  • At least a second warning signal is generated if a faulty driving behavior of the vehicle driver is evaluated as a function of the operating parameters and / or the object data.
  • the present invention relates to a vehicle, in particular a rail vehicle with a collision avoidance system as described above.
  • the first warning signal is output and the second warning signal is output.
  • Fig. 1 shows a schematic representation of an embodiment of a collision avoidance system 10 according to the invention, by means of which a method according to the invention can be carried out.
  • the collision avoidance system 10 is installed in a rail vehicle 12.
  • the rail vehicle 12 is designed as a rail vehicle 12 for local public transport and regional traffic.
  • the collision avoidance system 10 has an optical checking device 14 for detecting and checking a driving behavior of a vehicle driver F and for generating corresponding checking data.
  • the optical inspection device 14 is arranged relative to the driver F at a position within a vehicle cabin of the rail vehicle 12 above the vehicle driver F.
  • the collision avoidance system 10 has a sensor device 16 for detecting an object O outside the vehicle 12 and generating corresponding object data.
  • Such objects O are all objects or objects that come into connection with rail traffic, such as plants, animals, other vehicles or pedestrians, traffic signs (eg warning signs), traffic facilities (such as traffic light systems) and / or the roadway or its current state or the route.
  • rail traffic such as plants, animals, other vehicles or pedestrians, traffic signs (eg warning signs), traffic facilities (such as traffic light systems) and / or the roadway or its current state or the route.
  • the object data include in particular the traffic situation of the rail vehicle 12 in its external environment (and the respective objects O therein), which can be detected by the sensor device 16.
  • the sensor device 16 for detecting one or more objects O outside the vehicle 12 has a far-range radar device, short-range radar device, LIDAR device (Light Detection And Ranging) and a camera device or stereo camera device.
  • a far-range radar device short-range radar device
  • LIDAR device Light Detection And Ranging
  • camera device or stereo camera device a camera device or stereo camera device.
  • the sensor device 16 may comprise an infrared camera device or infrared stereo camera device, night-vision camera device or night-vision stereo camera device or an ultrasonic distance sensor.
  • the sensor device 16 can also be designed in the form of all combinations of these sensor devices 16.
  • the sensor device 16 is according to Fig. 1 arranged in a front region of the rail vehicle 12 with respect to the direction of travel.
  • the sensor device is arranged in a right or left side region of the rail vehicle 12 with respect to the direction of travel.
  • the sensor device is arranged in an end or rear region of the rail vehicle 12 with respect to the direction of travel.
  • the sensor device 16 can also be arranged at the aforementioned positions in a roof region of the rail vehicle.
  • the collision avoidance system 10 further includes an interface element 18 for providing a plurality of operating parameters of the vehicle 12.
  • the interface element 18 is provided or designed for connection to a data supply system, here to the electrical system or to the fieldbus system, which is also part of the rail vehicle 12.
  • the interface element 18 provides a plurality of operating parameters of the vehicle 12 in the collision avoidance system 10.
  • the interface element 18 is designed as a wireless or wired interface element.
  • the wireless interface element 18 may in particular be designed as a Wi-Fi or radio-wave-based (or similar) interface element 18.
  • the operating parameters further include a plurality of friction coefficients between the rail vehicle 12 and a roadway 12a supporting the vehicle 12.
  • the operating parameters include acceleration, speed, load, weight, direction of travel, etc. of the rail vehicle 12.
  • the roadway 12a is according to Fig. 1 formed as a track with two mutually parallel rails on which the rail vehicle 12 is arranged in the ready state.
  • the collision avoidance system 10 has an evaluation device 20.
  • the evaluation device 20 is designed as a central data processing device for object data, verification data and the operating parameters.
  • the evaluation device 20 has an artificial intelligence device and / or a neural network.
  • the evaluation device 20 may be designed as a self-learning evaluation device 20.
  • the evaluation device 20 is in data communication with the optical checking device 14, the interface element 18 and the sensor device 16.
  • the collision avoidance system 10 has an output device 22.
  • the optical inspection device 14 also has a video recording device 24 in the form of a video camera 24 for generating the verification data.
  • the optical checking device 14 may additionally have its own image evaluation device.
  • the optical inspection device 14 may also have a plurality of video cameras 24.
  • the optical checking device 14 is designed as a stereo video camera 24.
  • the evaluation device 20 has an image evaluation device 26.
  • the image evaluation device 26 is designed as a central data processing device for the optically formed verification data.
  • the image evaluation device 20 has an artificial intelligence device and / or a neural network.
  • the image evaluation device 26 may be designed as a self-learning image evaluation device 20.
  • the image evaluation device 26 is part of the evaluation device 20 or is in data connection with the evaluation device 20.
  • the output device 22 in turn has a first output device 28 for outputting the first warning signal.
  • the output device is in data connection with the interface element 18 and the evaluation device 20.
  • the first output device 28 further has an optical output device 28a and an acoustic output device 28b.
  • the optical output device 28a of the first output device 28 is formed as a luminous display element or in the form of a plurality of luminous display elements (e.g., light-emitting diodes).
  • optical output device 28a can also be designed as an electronic display in which the individual optical output devices 28a in the form of the illuminated display elements can be displayed.
  • the acoustic output device 28b is designed as an electrical loudspeaker or in the form of a plurality of electrical loudspeakers.
  • the first output device 28 may have a haptic output device 28c.
  • the haptic output device 28c may, for example, be part of a travel switch or an actuating element, e.g. be in the form of a foot pedal of a safety drive circuit.
  • the haptic output device 28c of the first output device 28 is designed in particular as a vibration device.
  • the output device 22 has a second output device 30 for outputting the second warning signal.
  • the second output device 30 also has an optical output device 30a and an acoustic output device 30b.
  • the optical output device 30a of the second output device 30 is formed as a luminous display element or in the form of a plurality of luminous display elements (e.g., light-emitting diodes).
  • optical output device 30a of the second output device 30 can also be embodied as an electronic display in which the individual optical output devices 30a in the form of the illuminated display elements can be displayed.
  • the acoustic output device 30b is designed as an electrical loudspeaker or in the form of a plurality of electrical loudspeakers.
  • the second output device 30 may also have a haptic output device 30c.
  • the haptic output device 30c may for example be part of a travel switch or an actuating element, e.g. be in the form of a foot pedal of a safety drive circuit.
  • the haptic output device 30c of the second output device 30 is designed in particular as a vibration device.
  • the collision avoidance system 10 or the vehicle 12 further comprise means 32 for continuously or intermittently determining friction coefficients.
  • the means 32 for determining the coefficients of friction further comprises a sensor device 32a for detecting the respective rotational speeds of a plurality of vehicle wheels of the rail vehicle 12 in their respective point of contact with the rail.
  • the device 32 for determining the coefficients of friction is also in data communication with the interface element 18 and the evaluation device 20.
  • the collision avoidance system 10 further includes a computing device 34 for calculating a vehicle braking distance based on the operating parameters.
  • the computing device 34 continues to be in data communication with the interface element 18 and with the evaluation device 20.
  • the evaluation device 20 is connected to a control and regulating device 36 of the rail vehicle 12 in data connection.
  • the collision avoidance system 10 in particular configured to detect the external vehicle environment, the current traffic situation and traffic-endangering objects O in the form of object data.
  • the collision avoidance system 10 is particularly adapted to detect and check the driving behavior of the driver F continuously or at intervals of time.
  • the collision avoidance system 10 can basically record and check its driving behavior as a function of the current traffic situation and correspondingly independently of the current traffic situation or the object data.
  • the collision avoidance system 10 can proceed as follows: In this context, only the check data can be evaluated by means of the evaluation device 20 in such a way that a warning signal can be generated in the case of a faulty driving behavior of the vehicle driver F.
  • Such a faulty driving behavior can be, for example, a hands-free or free-floating driving behavior during the journey of the rail vehicle 12.
  • such erratic behavior may be the use of a mobile phone or smartphone while driving; or can the driver F in this regard while driving eating, drinking or smoking.
  • the checking data can thus be evaluated by means of the evaluation device 20 or the image evaluation device 26 in such a way that the driving behavior of the Driver F independently of the operating parameters and the object data can be evaluated.
  • a first warning signal can be generated, since by means of the evaluation device 20, a faulty behavior of the vehicle driver F can be evaluated independently of the operating parameters and the object data.
  • the first warning signal is then transferable to an output device 22 of the vehicle 12 or the collision avoidance system 10 and output from this output device 22 to the driver F.
  • the acoustic output by the acoustic output device 28b can be made by a human voice with information about the erroneous driving behavior.
  • the acoustic output by the acoustic output device 28b may be effected by an associated noise characteristic of the detected erratic behavior.
  • the first warning signal can be output louder by the vehicle driver F, who ignores the first warning signal for a relatively long time, or, in the case of an interval-type beep, can be output with higher frequency.
  • the optical output of the first warning signal by the optical output device 28a can be effected in each case by flashing or continuous lighting of the respective lighting elements (for example light-emitting diodes).
  • the visual output can be in the form of a symbol associated with the erroneous driving behavior, for example by being displayed on an electronic display 28a.
  • the first warning signal can also be output with a longer lasting disregard of the first warning signal by the driver F brighter or higher contrast or be issued with a higher flashing frequency.
  • the first warning signal can also be issued to the driver F additionally by means of a haptic output device 28c by vibration.
  • the first warning signal can also be issued with time-prolonged disregard of the first warning signal by the driver by means of the haptic output device 22c with a larger vibration frequency and a larger amplitude of vibration.
  • the collision avoidance system 10 may proceed according to the inspection of the driving behavior of the driver depending on the traffic situation as follows: According to this case, the object data, a plurality of operating parameters of the vehicle 12 and the checking data relating to the driver F can be evaluated such that in the event of a traffic-specific faulty behavior of the driver F by means of the evaluation device 20 also a warning signal can be generated.
  • a traffic-specific misconduct of the vehicle driver F can be, for example, ignoring a traffic light system or ignoring an intersection or a level crossing.
  • the operating parameters, the object data and the checking data can be evaluated by means of the evaluation device 20 such that the driving behavior of the vehicle driver F can be evaluated as a function of the operating parameters and the object data.
  • a second warning signal can be generated by means of the evaluation device 20, because a faulty driving behavior of the vehicle driver F can be evaluated as a function of the operating parameters and the object data.
  • the second warning signal is then also transferable to an output device 22 of the vehicle 12 or the collision avoidance system 10 and can be output from this output device 22 to the driver F.
  • the acoustic output of the second warning signal by the second acoustic output device 30b can be carried out by a human voice with information about the detected erroneous behavior of the vehicle driver F.
  • the acoustic output of the second warning signal can be carried out by the second acoustic output device 30b by means of a sound associated with the detected erroneous driving behavior.
  • the acoustic output of the second warning signal by the second acoustic output device 30b can be carried out continuously or intermittently by a beep.
  • the second warning signal can also be issued louder with prolonged disregard by the driver or higher-frequency output in the event of an interval-like beep.
  • the optical output of the second warning signal by the second optical output device 30a can be effected in each case by flashing or continuous lighting of the respective lighting elements (for example light-emitting diodes).
  • the second warning signal can also be issued with prolonged disregard by the driver F brighter or more contrast rich or be issued with a higher flashing frequency.
  • the second warning signal can also be issued to the driver F additionally by means of the second haptic output device 30c by vibration.
  • the second warning signal may also be output with prolonged disregard by the driver F by means of the haptic output device 30c having a larger vibration frequency and a larger vibration amplitude.
  • first and the second warning signal are also output by a common output device 22.
  • the collision avoidance system 10 according to the review in particular the traffic can proceed as follows:
  • the object data as well as a plurality of operating parameters of the vehicle 12 can be evaluated by the evaluation device 20 in such a way that a warning signal can be generated by means of the evaluation device 20 in the event of an impending collision between the object O and the vehicle 12.
  • a warning signal is generated in the event of an imminent collision between the object O and the vehicle 12.
  • the warning signal is formed in this case, in particular as a collision avoidance signal.
  • the warning signal or the collision avoidance signal is then transferable to the first and the second output device 28, 30 and can be output to the driver F.
  • the acoustic output by the respective acoustic output devices 28b, 30b can each be made by a human voice with information about the detected object O.
  • the acoustic output of the collision avoidance signal may be made by an associated noise characteristic of the detected object O, respectively.
  • the acoustic output can be made by a beep continuously or intermittently.
  • the respective collision avoidance signal can also be output louder with decreasing distance between object O and vehicle or be output at higher frequency in the case of an interval-like beep.
  • the optical output by the optical output devices 28b, 30b can be made by flashing or continuously lighting the respective light emitting elements (e.g., light-emitting diodes).
  • the respective collision avoidance signal can also be emitted with decreasing distance between object O and vehicle 12 brighter or with higher contrast or output at a higher blinking frequency.
  • the collision avoidance signal can also be output to the vehicle driver by means of a haptic output device 28c, 30c by vibration.
  • the haptic collision avoidance signal may be further output with decreasing distance between the object O and the vehicle by the haptic output means 28c, 30c having a larger vibration frequency and a larger vibration amplitude.
  • the haptic output device 28c, 30c may for example be part of a drive switch and an actuating element of the safety drive circuit.
  • the vehicle driver F can initiate braking of the rail vehicle or initially warn the object O acoustically and optically by means of an object warning device of the rail vehicle 12.
  • the evaluation device 18 stops the above-described output.
  • the evaluation device 18 additionally transmits the collision avoidance signal to a control and regulation device 36 of the rail vehicle 12.
  • This control and regulation device 36 then initiates an automatic service braking or emergency braking of the brake system of the rail vehicle 12, depending on the distance of the object O from the rail vehicle 12 and depending on the probability of collision.
  • the collision avoidance system 10 includes means 32 for determining the coefficients of friction between the rail vehicle 12 and the track 12a supporting the rail vehicle.
  • Device 32 for determining the coefficients of friction then transmits this type of operating parameter via interface element 18 to computing device 34.
  • the computing device 34 calculates the current braking distance of the rail vehicle 12 on the basis of the transmitted friction coefficients and the further operating parameters and generates corresponding braking distance data.
  • This braking distance data or the friction coefficients per se can also be provided in the form of operating parameters following the evaluation device 20, which they use for evaluation together with the object data.
  • FIG. 2 further shows a flowchart of an embodiment of a method according to the invention for operating the above-described collision avoidance system 10 according to FIG Fig. 1 , which is installed in a rail vehicle 12.
  • a driving behavior of a vehicle driver F is detected and checked by means of an optical checking device 14 and corresponding checking data is generated.
  • a second step S2 one or more objects O outside the vehicle 12 are detected by means of a sensor device 16 and corresponding object data are generated.
  • a plurality of operating parameters of the vehicle 12 as well as the object data and furthermore the checking data are evaluated by the evaluation device 20.
  • the necessary multiple operating parameters of the vehicle 12 are provided to the evaluation device 20 via the interface element.
  • the evaluation device 20 can proceed in the context of the steps following this third step S3 on the basis of three possible parallel step sequences.
  • a fourth parallel step S4.1 only the object data and a plurality of operating parameters of the vehicle 12 are evaluated by the evaluation device 20 in such a way that a warning signal can be generated by means of the evaluation device 20 in the event of an imminent collision between the object O and the vehicle 12.
  • a warning signal is then generated by means of the evaluation device 20 in the event of an imminent collision between the object O and the vehicle 12.
  • the warning signal is formed in this case, in particular as a collision avoidance signal.
  • the warning signal or the collision avoidance signal is then transmitted in this case according to a sixth parallel step S6.1 from the evaluation device 20 to the first output device and to the second output device 28, 30 of the vehicle 12 or the collision avoidance system 10.
  • the transmission to the first and the second output device 28, 30 takes place in particular due to the importance of the warning signal in the form of the collision avoidance signal.
  • the check data is evaluated by the evaluation device in such a way that a warning signal can be generated in the case of a faulty driving behavior of the vehicle driver F by means of the evaluation device 20.
  • the driving behavior of the vehicle driver F is evaluated only on the basis of the verification data.
  • the inspection data are accordingly evaluated by the evaluation device 20 such that the driving behavior of the vehicle driver F is evaluated independently of the operating parameters and the object data.
  • a first warning signal is then generated, since a faulty driving behavior of the vehicle driver F is evaluated independently of the operating parameters and the object data.
  • the first warning signal is transmitted to a first output device 28 of the vehicle 12 or of the collision avoidance system 10.
  • the object data and a plurality of operating parameters of the vehicle 12 and the verification data are evaluated by the evaluation device 20 such that in the case of a faulty behavior of the vehicle driver F by means of the evaluation device 20 also a warning signal is generated.
  • the operating parameters, the object data and the verification data will therefore be evaluated by the evaluation device to the effect that the driving behavior of the vehicle driver F is evaluated depending on the operating parameters and the object data.
  • a second warning signal is then generated by means of the evaluation device 20, because a faulty driving behavior of the vehicle driver F is evaluated as a function of the operating parameters and the object data.
  • the second warning signal is transmitted to a second output device 28 by means of the evaluation device 20.
  • the collision avoidance system automatically returns to step 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
EP19171902.0A 2018-05-18 2019-04-30 Système permettant d'éviter une collision pour un véhicule et procédé correspondant Withdrawn EP3569469A1 (fr)

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