GB2513953B - Method for assisting the driver of a motor vehicle in a collision avoidance manoeuvre - Google Patents
Method for assisting the driver of a motor vehicle in a collision avoidance manoeuvre Download PDFInfo
- Publication number
- GB2513953B GB2513953B GB1403154.6A GB201403154A GB2513953B GB 2513953 B GB2513953 B GB 2513953B GB 201403154 A GB201403154 A GB 201403154A GB 2513953 B GB2513953 B GB 2513953B
- Authority
- GB
- United Kingdom
- Prior art keywords
- quality measure
- driver
- determination
- collision avoidance
- quality
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 21
- 230000001419 dependent effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Description
Description
Title
Method for assisting the driver of a motor vehicle in a collision avoidance manoeuvre
Prior art A safety system for a means of transportation and a method relating thereto is known from DE 10 2004 008 894 A1. In order to refine this safety system for a means of transportation, in particular motor vehicle, having at least one steering system and at least one braking system, in such a way that an evasive manoeuvre initiated by the driver of the means of transportation when approaching an obstacle is assisted with respect to both the device and the method, thus preventing an accident through collision, it is proposed: - that an evaluation unit determines from the data and information at least one driving variant, in particular at least one evasive trajectory and/or at least one automatic emergency braking action and - that upon or after initiation of a driving manoeuvre, in particular an evasive manoeuvre or an emergency braking manoeuvre, by the driver of the means of transportation, the safety system, in particular the evaluation unit, specifies, assists and/or suggests this driving manoeuvre in optimised form, in particular in the form of an optimal evasive trajectory or in the form of automatic emergency braking.
Disclosure of the invention
The invention relates to a method for assisting the driver of a motor vehicle in a collision avoidance manoeuvre, in which - the danger of an imminent or impending collision of the motor vehicle is detected, - by means of an environment sensor system an environment modelling takes place and on the basis of the environment modelling a collision avoidance trajectory, avoiding the collision, for the motor vehicle is determined, - a quality measure representing the quality of the environment modelling is determined and - an assistance of the driver for guiding the vehicle on the collision avoidance trajectory by means of driver-independent steering and/or braking interventions takes place, the maximum intensity of the steering and/or braking interventions being dependent on the determined quality measure.
The invention makes it possible for the driver to be provided with a collision avoidance assistance dependent on the quality or correctness probability of the determined environment data.
An advantageous configuration of the invention is characterised in that the collision avoidance manoeuvre is an evasive manoeuvre and the collision avoidance trajectory is an evasive trajectory.
An advantageous configuration of the invention is characterised in that the number of sensors which confirm the environment modelling is included in the determination of the quality measure. As the number of confirming sensors increases, the probability that the performed environment modelling is correct increases.
An advantageous configuration of the invention is characterised in that the variances of sensor measured quantities are included in the determination of the quality measure. The lower the variance or spread of the sensor measured quantities, the higher the quality of the environment modelling.
An advantageous configuration of the invention is characterised in that the variances of estimated quantities are included in the determination of the quality measure.
An advantageous configuration of the invention is characterised in that determined existence probabilities of objects, open spaces and/or elements of the traffic infrastructure are included in the determination of the quality measure. With increasing existence probability, the quality increases.
An advantageous configuration of the invention is characterised in that the quality of the movement prediction of objects and people is included in the determination of the quality measure.
An advantageous configuration of the invention is characterised in that the type of the detected collision partner in the detected imminent or impending collision is included in the determination of the quality measure.
An advantageous configuration of the invention is characterised in that with increasing quality measure the maximum intensity of the driver-independent steering or braking interventions increases.
The invention further comprises an apparatus, containing means which are configured to carry out the methods according to the invention. This apparatus is, in particular, a control device which is provided with the program code to carry out the methods according to the invention.
The drawing comprises Figure 1.
Figure 1 shows the sequence of operations of one embodiment of the method according to the invention.
The invention serves to increase the collision avoidance potential in collision avoidance manoeuvres or evasive manoeuvres. The degree of intervention of driver-independent steering or braking systems which is required for optimal collision avoidance assistance or evasion assistance of the driver cannot be provided in systems in many cases when these systems are based on the worst-case behaviour of the systems used for sensing and modelling the environment. If the detection of the vehicle environment contains uncertainties, then for safety reasons no assistance of the driver in an evasive manoeuvre takes place. The present invention describes an adaptation of the driver assistance, i.e. of the driver-independent braking or steering interventions assisting the driver in a collision avoidance manoeuvre or an evasive manoeuvre, according to the quality of the environment information available at the particular point in time, with the result that the worst-case behaviour of the sensor system does not have to be taken as the basis in every case.
To this end, the invention provides a quality measure which describes the quality of the environment modelling or situation interpretation. This quality measure can be determined from single individual qualities or from combinations of individual qualities, in which for example the following factors are included: - number of sensors which independently of one another confirm the presence of an object or the entire environment situation - variances of the sensor measured quantities - variances of estimated quantities - derived quantities from a plurality of measurements over time, e.g. the existence probability of an object, of determined open spaces or determined objects of the traffic infrastructure - quality of the movement prediction of objects or pedestrians - type of the detected obstacle, e.g. stationary or moving object, and associated detection quality.
For example, the overall quality can be calculated as a weighted total of a plurality of individual qualities. According to a further variant, it is possible to set a limit value for each one of the above-mentioned factors. For each factor, it is then checked whether the corresponding individual quality exceeds the limit value, then the individual quality is classified as high. If the individual quality fails to reach the limit value, then the individual quality is classified as low. The overall quality is determined from these binary individual qualities.
The overall quality itself can be represented in discrete steps or continuously. An increase or reduction of the maximum-permissible degree of intervention takes place, for example, as a result of the exceeding of or failure to reach threshold values.
If a high quality measure is present, that is to say the environment information corresponds with higher probability to the reality, then a greater degree of intervention of the driver-independent evasive assistance interventions can take place. If a low quality measure is present, then lower evasive assistance interventions can be chosen.
It should be noted that the determination of the maximum degree of intervention can be performed additionally by further factors. These include, for example, the current vehicle speed, other internal vehicle quantities or quantities from the observation of the driver or the latter’s interaction with the vehicle.
The sequence of operations of one embodiment of the method according to the invention is represented in Fig. 1. After the start of the method in block 100, it is subsequently queried in block 101 whether a collision is imminent or impending. If this is not the case, then a return is made to block 100. However, if this is the case, then an environment modelling for the surroundings of the motor vehicle sensed by means of a sensor system is subsequently carried out in block 102. With the aid of this environment modelling, an evasive trajectory for the motor vehicle which prevents a collision when followed is determined in block 103. After that, in block 104 a quality measure representing the quality of the environment modelling is determined. After that, in block 105 driver-independent steering and/or braking interventions take place which assist the driver in following the evasive trajectory. The maximum intensity of these, i.e. the maximum degree of intervention, is dependent on the determined quality measure. In block 106, the method according to the invention ends.
Claims (10)
1. Method for assisting the driver of a motor vehicle in a collision avoidance manoeuvre, in which - the danger of an imminent or impending collision of the motor vehicle is detected (101), - by means of an environment sensor system an environment modelling takes place (102) and on the basis of the environment modelling a collision avoidance trajectory, avoiding the collision, for the motor vehicle is determined (103), - a quality measure representing the quality of the environment modelling is determined (104) and - an assistance of the driver for guiding the vehicle on the collision avoidance trajectory by means of driver-independent steering and/or braking interventions takes place (105) , the maximum intensity of the steering and/or braking interventions being dependent on the determined quality measure.
2. Method according to Claim 1, characterised in that the collision avoidance manoeuvre is an evasive manoeuvre and the collision avoidance trajectory is an evasive trajectory.
3. Method according to Claim 1, characterised in that the number of sensors which confirm the environment modelling is included in the determination of the quality measure.
4. Method according to Claim 1, characterised in that the variances of sensor measured quantities are included in the determination of the quality measure.
5. Method according to Claim 1, characterised in that the variances of estimated quantities are included in the determination of the quality measure.
6. Method according to Claim 1, characterised in that determined existence probabilities of objects, open spaces and/or elements of the traffic infrastructure are included in the determination of the quality measure.
7. Method according to Claim 1, characterised in that the quality of the movement prediction of objects and people is included in the determination of the quality measure.
8. Method according to Claim 1, characterised in that the type of the detected collision partner in the detected imminent or impending collision is included in the determination of the quality measure.
9. Method according to Claim 1, characterised in that with increasing quality measure the maximum intensity of the driver-independent steering or braking interventions increases.
10. Apparatus, containing means which are configured to carry out the methods according to the invention.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013203216.1A DE102013203216A1 (en) | 2013-02-27 | 2013-02-27 | Method for assisting the driver of a motor vehicle in a collision avoidance maneuver |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201403154D0 GB201403154D0 (en) | 2014-04-09 |
| GB2513953A GB2513953A (en) | 2014-11-12 |
| GB2513953B true GB2513953B (en) | 2019-06-12 |
Family
ID=50482645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1403154.6A Active GB2513953B (en) | 2013-02-27 | 2014-02-24 | Method for assisting the driver of a motor vehicle in a collision avoidance manoeuvre |
Country Status (3)
| Country | Link |
|---|---|
| DE (1) | DE102013203216A1 (en) |
| FR (1) | FR3002510B1 (en) |
| GB (1) | GB2513953B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014220925A1 (en) | 2014-10-15 | 2016-04-21 | Conti Temic Microelectronic Gmbh | System and device for functional plausibility of sensor data and sensor arrangement with functional plausibility of sensor data |
| DE102015205558A1 (en) * | 2015-03-26 | 2016-09-29 | Conti Temic Microelectronic Gmbh | Method for carrying out an evasive maneuver in a motor vehicle |
| DE102016210848A1 (en) | 2015-07-06 | 2017-01-12 | Ford Global Technologies, Llc | Method for avoiding a collision of a vehicle with an object, and driving assistance system |
| DE102015212751A1 (en) * | 2015-07-08 | 2017-01-12 | Continental Teves Ag & Co. Ohg | Device and method for driver assistance for a motor vehicle |
| DE102015226116A1 (en) * | 2015-12-18 | 2017-06-22 | Robert Bosch Gmbh | A method of assessing a hazard situation detected by at least one sensor of a vehicle, a method of controlling a replay of a hazard alert, and a method of displaying a hazard alert |
| DE102016208604A1 (en) * | 2016-05-19 | 2017-11-23 | Robert Bosch Gmbh | Method and device for carrying out an avoidance maneuver for a motor vehicle |
| CN114326725B (en) * | 2021-12-23 | 2023-10-24 | 武汉理工大学 | Man-machine interaction-oriented intelligent ship collision prevention method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012218361A1 (en) * | 2012-04-04 | 2013-10-10 | Continental Teves Ag & Co. Ohg | Method for operation of four-wheel, two-axle motor car, involves determining collision risk of car, and making dominant measure that is high criticality of driving conditions and better signal quality of environment data, by coordinator |
| US20140067252A1 (en) * | 2012-09-03 | 2014-03-06 | Robert Bosch Gmbh | Method for determining an evasion trajectory for a motor vehicle, and safety device or safety system |
| US20140136015A1 (en) * | 2011-08-31 | 2014-05-15 | Nissan Motor Co., Ltd. | Vehicle driving support apparatus |
| US20140222278A1 (en) * | 2011-08-25 | 2014-08-07 | Nissan Motor Co., Ltd. | Autonomous driving control system for vehicle |
| EP2851249A1 (en) * | 2013-09-19 | 2015-03-25 | Volvo Car Corporation | Motor vehicle safety arrangement and method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3564547B2 (en) * | 1995-04-17 | 2004-09-15 | 本田技研工業株式会社 | Automatic driving guidance device |
| JP4329442B2 (en) * | 2003-07-30 | 2009-09-09 | 日産自動車株式会社 | Surrounding vehicle detection device |
| DE102004008894A1 (en) | 2004-02-24 | 2005-09-08 | Robert Bosch Gmbh | Safety system for a means of transportation and related method |
| JP2008008679A (en) * | 2006-06-27 | 2008-01-17 | Toyota Motor Corp | Object detecting apparatus, collision predicting apparatus and vehicle controlling apparatus |
-
2013
- 2013-02-27 DE DE102013203216.1A patent/DE102013203216A1/en active Pending
-
2014
- 2014-02-24 GB GB1403154.6A patent/GB2513953B/en active Active
- 2014-02-25 FR FR1451499A patent/FR3002510B1/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140222278A1 (en) * | 2011-08-25 | 2014-08-07 | Nissan Motor Co., Ltd. | Autonomous driving control system for vehicle |
| US20140136015A1 (en) * | 2011-08-31 | 2014-05-15 | Nissan Motor Co., Ltd. | Vehicle driving support apparatus |
| DE102012218361A1 (en) * | 2012-04-04 | 2013-10-10 | Continental Teves Ag & Co. Ohg | Method for operation of four-wheel, two-axle motor car, involves determining collision risk of car, and making dominant measure that is high criticality of driving conditions and better signal quality of environment data, by coordinator |
| US20140067252A1 (en) * | 2012-09-03 | 2014-03-06 | Robert Bosch Gmbh | Method for determining an evasion trajectory for a motor vehicle, and safety device or safety system |
| EP2851249A1 (en) * | 2013-09-19 | 2015-03-25 | Volvo Car Corporation | Motor vehicle safety arrangement and method |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3002510B1 (en) | 2016-02-26 |
| DE102013203216A1 (en) | 2014-08-28 |
| GB2513953A (en) | 2014-11-12 |
| GB201403154D0 (en) | 2014-04-09 |
| FR3002510A1 (en) | 2014-08-29 |
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