RU2724044C1 - Collision warning method - Google Patents

Abstract

FIELD: physics; transportation.

SUBSTANCE: invention relates to a collision warning method of a vehicle. Collision warning method comprises the steps of detecting presence of an obstacle in a blind area on the side of the vehicle by means of obstacle detection sensors, controlling the steering wheel rotation by means of a rudder turn sensor and sending a warning signal. Signal is sent by means of a warning alarm when the following conditions are met: when the rudder turn is detected by a value greater than the pre-set threshold, and if there is an obstacle in the blind zone on the side of the vehicle.

EFFECT: higher safety of vehicle driving is achieved.

8 cl, 3 dwg

Description

FIELD OF THE INVENTION

The invention relates to the field of methods and means for preventing collisions of vehicles, in particular, to a method for assessing the possibility of a collision and informing the driver about the threat of a collision during rebuilding.

State of the art

A well-known solution selected as a prototype that describes the steering support system (RU 2685108, published 04.06.2018), which contains: a peripheral control unit, a strip recognition unit, a control support unit for changing a strip, a unit for determining a status of a strip changing performance, a stop unit lane change support, configured to stop control support when changing lanes when the peripheral control unit determines an approaching vehicle, center return control support unit, configured to perform center return control support when lane change control support is stopped in the first lane change parts, a collision avoidance control support unit configured to perform collision avoidance control support when the lane change control support is stopped in the second lane change part. Steering support is provided when changing lanes for added safety and convenience.

In this solution, the dependence of the system on the determination of the lane of the car is great, which increases the likelihood of a collision in the absence of markings or incorrect determination of the lane of the car.

Disclosure of invention

In one aspect of the invention, a collision warning method is disclosed, comprising the steps of:

- detect the presence of an obstacle to the side of the vehicle using obstacle detection sensors;

- control the rotation of the steering wheel of the car with the help of the steering angle sensor;

- give a warning signal by means of a warning signal when at least the following conditions are met: when steering is detected by an amount greater than a predetermined threshold and if there is an obstacle to the side of the vehicle.

In further aspects, it is disclosed that the warning signal is at least one of a vibration signal supplied to a car steering wheel, a light signal, an audio signal; at least one of the amplitude and frequency of the warning signal depends on the time until the moment of potential collision, the shorter the time before the potential collision, the greater at least one of the amplitude or frequency of the warning signal; give a warning signal only when the turn signal is on; at least one of the ultrasonic sensor, a video camera, is used as an obstacle detection sensor; a predetermined threshold for turning the steering wheel is changed depending on the vehicle speed, and the higher the speed, the lower the predefined threshold for turning the steering wheel is set; a predetermined threshold for turning the steering wheel is changed depending on at least one of the relative speeds of the vehicle and the obstacle, the relative accelerations of the vehicle and the obstacle, the presence of an obstacle in the blind zone is detected using obstacle detection sensors.

The main task solved by the claimed invention is to assess the possibility of a collision, based on the traffic situation and the actions of the driver, and also warning the driver about the threat of a collision during a maneuver.

The essence of the invention lies in the fact that the sensors of the car monitor the presence of obstacles on the sides of the car and in case of detecting the beginning of the maneuver, provided there are potentially dangerous obstacles that may collide, in the direction of the maneuver being performed, the driver is given a warning signal.

The technical result achieved by the solution is to increase the safety of car maneuvers on the road.

A brief description of the drawings.

FIG. 1. The scheme of movement with an obstacle in the blind zone

FIG. 2. Block diagram of a collision warning system

FIG. 3. The algorithm of the collision warning method

The implementation of the invention.

The following detailed description and the annexed drawings show various exemplary embodiments of the invention. The description and drawings are explanatory, but not limiting, on the basis of the materials of the application, a person skilled in the art will be able to implement many variants of the invention falling within the scope of the invention defined by the claims. The steps of the described methods are exemplary, and the order of steps is not necessary or critical.

In FIG. 1 is a diagram showing a typical traffic situation in which a car moves in the direction indicated in the diagram, and an obstacle (another car) moves in the same direction on the side of it. The driver sees the traffic situation on the side of the car with side vision and in the side rear-view mirror, but there is a zone in which he sees no obstacles in the mirror or side vision. If the car begins to maneuver in the direction of an obstacle in the blind zone, a car may collide with an obstacle.

To prevent such situations, the developers propose a collision warning method and an appropriate system that implements it. The proposed collision warning system (shown in Fig. 2) is installed in the vehicle 100 and consists of obstacle detection sensors 101, a steering wheel sensor 102, a warning signal means 103, a control unit 104 that receives signals from the sensors, processes them and, if necessary, commands the warning means 103 to issue a warning signal. All blocks and sensors in FIG. 2 are functionally connected to each other as shown in FIG. 2.

The collision warning system in the basic version works as follows (shown in Fig. 3): collect data from the obstacle detection sensors and data on the steering angle using the control unit, check if the steering angle is greater than the threshold value, check if an obstacle is detected, further, if the steering wheel is turned at an angle greater than the threshold value and an obstacle is detected, they give a signal to the driver that the maneuver could lead to a collision with the obstacle.

Obstacle detection sensors can be either ultrasonic or radio frequency sensors, which are used to measure the distance to an obstacle using the reflected signal, and video cameras, which are used either only to detect the presence of an obstacle, preferably in the blind spot, or in addition to assess or calculate distance to the obstacle. Methods for implementing this functionality are well known in the art and are not the subject of the present invention. The same sensors can be used to measure or evaluate the relative speed of an obstacle compared to a car.

Ultrasonic sensors are preferably located at the rear of the car, most preferably at the rear bumper, video cameras are preferably located at the front of the car and directed towards the rear of the car, most preferably in the side rear-view mirrors. The viewing angle of the cameras can be selected so as to best suit the goals of efficient processing of their signal by the control unit.

Sensors can only control the blind zone, but they can also control a larger range, which is ensured by the selection and adjustment of sensors. So you can choose cameras with a viewing angle corresponding to the blind spot. A larger monitoring range provides greater security, but can lead to frequent alarms and false alarms of the collision warning system.

The control unit can be either a standard electronic control unit of the car, or an additional control unit, which is a hardware processor, microprocessor, controller, microcontroller, specialized electronic circuit or other hardware that has sufficient functionality to receive, process and transmit signals used in this solution . A person skilled in the art without the application of creative efforts will be able to select the appropriate hardware unit for implementing the claimed functionality.

Sensors can transmit their signal to the control unit both wirelessly and by wire.

The steering wheel rotation sensor can be either standard or optionally built-in. Any known sensor, for example, potentiometric, optical, magnetoresistive, and any suitable sensor that will be developed in the future, can be used.

The control unit receives signals from all sensors and according to the algorithm laid down in it, shown in FIG. 3, makes a conclusion about the possibility of a collision as a result of the maneuver in the current traffic situation, and then sends a control signal to the warning means, which informs the driver about the danger of the maneuver being performed.

The warning means may be a light indicator (LED, LED array, light sign, light board, etc.), a sound indicator (speaker, beeper, etc.), a vibration indicator. As a rule, a warning signaling device is mounted additionally in a car, but regular means of a similar signaling can also be used.

The indicator light is installed in the field of direct or lateral vision of the driver. The sound indicator is installed in the immediate vicinity of the driver so that he easily recognizes his signal. The vibration detector is preferably mounted in the steering wheel of a vehicle.

The use of a vibration warning device is preferable, since its signal cannot be missed by the driver due to adverse external factors, such as loud music or other drowning sounds, bright sun, which leads to a decrease in eye sensitivity, etc. The driver will feel the vibration of the steering wheel during the maneuver, since his hands will be on the steering wheel at that moment, and the signal itself is specific and it is difficult to mix it up with something or not notice it, which further increases the safety of the car’s maneuvers on the road.

In one embodiment, a predefined threshold for the steering angle is fixed, for example, 15 degrees. This threshold value provides adequate protection against false alarms when warnings about the danger of a collision are issued, when a small turn of the steering wheel generates a warning signal, even when the probability of a collision with an obstacle is small. This situation can occur with a slight displacement of the car in order to avoid flaws on the roadway or align the path of the car along the lane.

In another embodiment, the predetermined threshold depends on the time of a potential collision with an obstacle. To do this, it is measured:

- the relative speed of the obstacle, which can be calculated by processing signals from obstacle detection sensors, both cameras, and from radio frequency or ultrasonic sensors, for example, by measuring the Doppler frequency shift,

- vehicle speed, for which standard tools are used, which are available in any modern car,

- the distance to the obstacle in the direction perpendicular to the direction of movement of the car to maneuver (at the very beginning of the maneuver),

- the angle of rotation of the steering wheel of the car, which through a linear coefficient is connected with the angle of rotation of the front wheels.

The ratio of the distance to the obstacle to the product of the angle of rotation of the front wheels of the car and the speed of the car allows you to determine the time before a potential collision with the obstacle. In one embodiment, a potential collision alarm is turned on only when the time calculated by the control unit before the potential collision becomes less than a threshold time, for example, 10 seconds. That is, if the driver makes a potentially dangerous maneuver, but either the speed of the car is small, or the steering angle is small, or both values are small, and therefore the moment of collision is distant in time, then the warning signal is not given until the time before the collision becomes small . In this embodiment, the frequency of false alarms of the warning signal is reduced, since the driver can make a maneuver when he is aware of the presence of an obstacle, for example, he circumvents a flaw in the roadway or moves towards the obstacle for other reasons.

In a more advanced embodiment, the control unit, using the speed of the car and the obstacles and knowing the time before a potential collision with an obstacle, determines the possibility of a collision based on the relative position of the car and the obstacle in the direction of movement of the car before maneuvering. Based on this data, the control unit determines the relative position of the vehicle and obstacles at the end of the maneuver; if the relative position of the vehicle and obstacles exceeds a predetermined threshold, for example, 2 vehicle lengths, a collision warning signal is not issued.

In yet another embodiment, the control unit receives information about the speed of the car and gives a warning signal only if the speed exceeds a predetermined threshold, for example, 20 km / h, so as not to cause too often a warning about a collision. What can happen in a traffic jam or at a traffic light when there is definitely an obstacle on the side of the car, in particular in the blind zone, but the driver is usually aware of it.

Option 1 implementation.

In one embodiment, when determining a potential collision according to the methods described above, the control unit instructs the warning means to give a warning signal with amplitude and / or frequency depending on the collision time, for example, if the collision time exceeds the first threshold, for example, 20 seconds, a warning is not issued, if it is between the second and first threshold, for example 15-20 seconds, then a signal of the first amplitude is output, if it is between the third and second threshold, for example 10-15 seconds, then a signal of the second higher amplitude is output if it is less than the third threshold, for example less than 10 seconds, a third even higher amplitude signal is issued. A similar approach can be used to set the frequency of the warning signal, which increases with decreasing time to a potential collision. Such a solution increases the information content of the warning signal for the driver, because he immediately understands the degree of danger of a collision, having sensed the signal.

Option 2 implementation.

In one embodiment, the time before the collision is not determined, but a predetermined threshold for turning the steering wheel is changed depending on the vehicle speed. At a low vehicle speed, the threshold is set higher, that is, a relatively large steering turn does not cause a collision warning signal, and at a high speed a relatively small turn of the steering wheel causes a collision warning signal. The threshold value for different speed ranges is set so that, on the one hand, it does not cause disturbing frequent trips, on the other hand, so as not to miss potential dangers. Preset parameters can be adjusted by the driver of the car for which, in one embodiment, the corresponding functionality is provided. This option provides even higher safety for maneuvers, since maneuvers at a higher speed are potentially more dangerous due to the reduced response time of the driver.

In one of the options, it is possible to implement a self-study of the collision warning system based on an analysis of whether the driver changed the steering angle or the speed of the car after issuing a warning signal or providing the driver with the option to turn off the incorrectly triggered signal and analyzing the moments and situations when this shutdown occurred. Based on these data, at least a predetermined threshold for turning the steering wheel can be changed.

Option 3 implementation.

This option is based on embodiment 1, but in addition to the instantaneous speeds of the vehicle and the obstacle, accelerations of at least one of the vehicle and the obstacle are also determined. Certain accelerations are used to adjust the time of a potential collision. Further work of the warning method and the corresponding system are similar to embodiment 1. The acceleration of the car is easily determined by the data of its on-board computer, the proposed system can also be equipped with a coordinate determination unit and the control unit can determine the speed and acceleration of the car based on the data of the coordinate determination unit. The acceleration of an obstacle can be determined on the basis of constantly received data on its speed.

The embodiments are not limited to the embodiments described herein, and other embodiments of the invention will be apparent to a person skilled in the art based on the information set forth in the description and knowledge of the prior art without departing from the spirit and scope of the present invention.

The elements mentioned in the singular do not exclude the plurality of elements, unless specifically indicated otherwise.

The functional connection of elements should be understood as a connection that ensures the correct interaction of these elements with each other and the implementation of one or another functionality of the elements. Particular examples of functional communication may be communication with the possibility of exchanging information, communication with the possibility of transmitting electric current, communication with the possibility of transmitting mechanical motion, communication with the possibility of transmitting light, sound, electro-magnetic or mechanical vibrations, etc. The specific type of functional connection is determined by the nature of the interaction of the mentioned elements, and, unless otherwise indicated, is provided by well-known means using principles well known in the art.

The methods disclosed herein comprise one or more steps or actions to achieve the described method. The steps and / or actions of the method can replace each other without going beyond the scope of the claims. In other words, unless a specific order of steps or actions is defined, the order and / or use of specific steps and / or actions can be changed without departing from the scope of the claims.

The application does not indicate specific software and hardware for the implementation of the blocks in the drawings, but a specialist in the field of technology should understand that the invention is not limited to a specific software or hardware implementation, and therefore, any software and hardware known in the art can be used to implement the invention prior art. So hardware can be implemented in one or more specialized integrated circuits, digital signal processors, digital signal processing devices, programmable logic devices, user programmable gate arrays, processors, controllers, microcontrollers, microprocessors, electronic devices, and other electronic modules configured to carry out the functions described in this document, a computer or a combination of the above.

Although not specifically mentioned, it is obvious that when it comes to storing data, programs, and the like, a computer-readable storage medium is meant, examples of computer-readable storage media include read-only memory, random-access memory, register, cache semiconductor storage devices, magnetic media such as internal hard drives and removable drives, magneto-optical media and optical media such as CD-ROMs and digital versatile disks (DVDs), as well as any other storage media known in the art.

Although exemplary embodiments have been described in detail and shown in the accompanying drawings, it should be understood that such embodiments are merely illustrative and not intended to limit the broader invention, and that the invention should not be limited to the particular arrangements and structures shown and described, since various other modifications may be apparent to those skilled in the art.

The features mentioned in the various dependent claims, as well as the implementations disclosed in various parts of the description, can be combined to achieve beneficial effects, even if the possibility of such a combination is not explicitly disclosed.

Claims (11)

1. A collision warning method, comprising the steps of: - detect the presence of an obstacle in the blind zone to the side of the vehicle using obstacle detection sensors; - control the rotation of the steering wheel of the car with the help of the steering angle sensor; - give a warning signal by means of a warning signal when at least the following conditions are met: when steering is detected by an amount greater than a predetermined threshold, and if there is an obstacle in the blind zone to the side of the vehicle. 2. The method according to p. 1, in which the warning signal is a vibration signal supplied to the steering wheel of a car. 3. The method according to claim 2, in which at least one of the amplitude and frequency of the warning signal depends on the time until the moment of potential collision, and the shorter the time before the moment of potential collision, the greater at least one of the amplitude or frequency of the warning signal. 4. The method according to p. 1, in which a warning signal is provided only if the turn signal is turned on. 5. The method according to claim 1, wherein an ultrasonic sensor is used as an obstacle detection sensor. 6. The method according to p. 1, in which a predetermined threshold for turning the steering wheel is changed depending on the speed of the vehicle, and the higher the speed, the lower the pre-set threshold for turning the steering wheel. 7. The method according to p. 1, in which a predetermined threshold for turning the steering wheel is changed depending on the relative accelerations of the car and obstacles. 8. The method according to claim 1, in which the presence of an obstacle in the blind zone is detected using obstacle detection sensors.

Images