SE1451483A1 - Method and system for preventing a trailing vehicle from colliding with a leading vehicle - Google Patents

Method and system for preventing a trailing vehicle from colliding with a leading vehicle Download PDF

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Publication number
SE1451483A1
SE1451483A1 SE1451483A SE1451483A SE1451483A1 SE 1451483 A1 SE1451483 A1 SE 1451483A1 SE 1451483 A SE1451483 A SE 1451483A SE 1451483 A SE1451483 A SE 1451483A SE 1451483 A1 SE1451483 A1 SE 1451483A1
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SE
Sweden
Prior art keywords
vehicle
trailing
determining
approaching
leading
Prior art date
Application number
SE1451483A
Other languages
English (en)
Other versions
SE541474C2 (en
Inventor
Claesson André
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1451483A priority Critical patent/SE541474C2/en
Priority to DE102015015258.0A priority patent/DE102015015258A1/de
Publication of SE1451483A1 publication Critical patent/SE1451483A1/sv
Publication of SE541474C2 publication Critical patent/SE541474C2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Description

15 20 25 Another object of the present invention is to provide a system for preventing a trailing vehicle from colliding with a leading vehicle which further facilitates preventing co||ision and thus improves safety.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in the appended independent claims.
Preferred embodiments of the method and the system are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for preventing a trailing vehicle from colliding with a leading vehicle. The method comprises the steps of: determining the existence of a trailing vehicle approaching said leading vehicle; determining a relative speed for said vehicles; and taking action if the relative speed of said vehicles indicates a risk for co||ision so as to prevent said co||ision. The step of determining said existence comprises the step of establishing contact with said trailing vehicle via a vehicle-to- vehicle communication arrangement and/or receiving information about the trailing vehicle via a vehicle-to-infrastructure communication arrangement, wherein the step of taking action comprises the step of receiving information about said risk by means of any of said communication arrangements in the leading vehicle. Hereby the risk of an accident may be further reduced as the leading vehicle may be informed through such communication at an early stage, e.g. when the vehicles are not detectable by each other in e.g. a curve. By receiving information through such communication action may be taken by the leading vehicle which may, if deemed possible, change lane to allow the trailing vehicle to pass so as to avoid a co||ision and allow a better flow of the traffic. The approaching trailing vehicle may also be informed 10 15 20 25 through such communication, wherein the trailing vehicle may reduce speed so as to avoid an accident.
Hereby the risk of an accident may be further reduced thus improving safety in that an action may be taken such as the leading vehicle changing lane to allow the trailing vehicle to pass to thus avoid an accident and allow a better flow of the traffic.
According to an embodiment of the method the step of determining said existence comprises the step of determining the lane in which the trailing vehicle is approaching. Hereby the risk of an accident may be further reduced thus improving safety in that when an action is taken attention may be paid to which lane the approaching vehicle is travelling to thus avoid an accident and allow a better flow of the traffic.
According to an embodiment of the method the step of taking action is performed taking the lane in which the trailing vehicle is approaching into consideration. Hereby the risk of an accident may be further reduced thus improving safety. An action may be taken by the leading vehicle changing lane to allow the trailing vehicle to pass to thus avoid an accident and allow a better flow of the traffic if the trailing vehicle is approaching in the same lane as the leading vehicle. An action may be taken by the leading vehicle remaining in the same lane instead of changing lane for an overtake or the like to allow the trailing vehicle to pass to thus avoid an accident and allow a betterflow of the traffic if the trailing vehicle is approaching in a lane adjacent to the leading vehicle.
According to an embodiment of the method the step of taking action comprises the step of warning the driver visually and/or audibly and/or by tactile means. Hereby safety is further improved as the driver will receive a warning.
According to an embodiment of the method the step of visually warning the driver comprises displaying a warning internally on a display unit and/or a 10 15 20 25 head-up-display and/or externally by generating a projection on the ground by illumination. Hereby an efficient way of warning the driver is obtained, thus further improving safety.
According to an embodiment of the method the step of taking action comprises the step of controlling the conveyance of the vehicle so as to change lane to allow the approaching trailing vehicle to pass if deemed possible. Hereby safety is further improved as collision may be avoided by thus controlling the vehicle, e.g. by automatically steering the vehicle so as to change Iane. Hereby flow of traffic is further improved as the trailing vehicle is allowed to pass smoothly.
Specifically an object of the invention is achieved by a system for preventing a trailing vehicle from colliding with a leading vehicle adapted to perform the methods as set out above.
The system according to the invention has the advantages according to the corresponding method claims.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention; Fig. 2a schematically illustrates a plan view of a trailing vehicle approaching a leading vehicle at a higher speed in the same Iane; 10 15 20 25 Fig. 2b schematically illustrates a plan view of a trailing vehicle approaching a leading vehicle at a higher speed in an adjacent Iane; Fig. 3 schematically illustrates a system for preventing a trailing vehicle from colliding with a leading vehicle according to an embodiment of the present inven?on; Fig. 4 schematically illustrates a block diagram of a method for preventing a trailing vehicle from colliding with a leading vehicle according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.
Hereinafter the term “vehicle-to-vehicle communication arrangement” refers to any wireless communication arrangement between a leading vehicle and a trailing vehicle such as for example a radio or microwave link, Wi-Fi, Bluetooth, or the like.
Hereinafter the term “vehicle-to-infrastructure communication arrangement” refers to any wireless communication arrangement between a leading vehicle and an infrastructure arrangement and/or a trailing vehicle and an infrastructure arrangement, such as for example a radio or microwave link, Wi-Fi, Bluetooth, or the like. 10 15 20 25 Fig. 1 schematically illustrates a side view of a vehicle according to the present invention. The exemplified vehicle 1 is a heavy vehicle in the shape of a truck. The vehicle according to the present invention could be any suitable vehicle such as a bus, a car, or the like. The vehicle comprises a system for preventing a trailing vehicle from colliding with a leading vehicle according to the present invention.
Fig. 2a schematically illustrates a plan view of a trailing vehicle 2 on a road with two lanes L1, L2 approaching a leading vehicle 1 at a higher speed v2 than the speed v1 of the leading vehicle 1 in the same lane L1.
The leading vehicle 1 is here a heavy vehicle in the shape of a truck. The leading vehicle 1 is overtaking another vehicle 3 travelling in the inner lane L2 with a speed v3 slightly lower than the leading vehicle 1.
By means of a system according to the present invention an accident may be avoided by establishing contact between said vehicles 1, 2 within a vehicle- to-vehicle communication arrangement and/or within a vehicle-to- infrastructure communication arrangement and communicating the risk of an accident by means of said communication arrangement to at least one of the vehicles 1, 2 so that e.g. the leading vehicle may interrupt the overtaking and change lane so that the trailing vehicle may pass.
By means of a system according to the present invention an accident may be avoided by establishing contact with said trailing vehicle 2 via a vehicle-to- vehicle communication arrangement and/or receiving information about the trailing vehicle via a vehicle-to-infrastructure communication arrangement and receiving information about the risk of an accident by means of any of said communication arrangements in the leading vehicles 1 so that e.g. the leading vehicle may interrupt the overtaking and change lane so that the trailing vehicle may pass.
Fig. 2b schematically illustrates a plan view of a trailing vehicle 2 on a road with two lanes L1, L2 approaching a leading vehicle 1 in a lane L1 at a higher 10 15 20 25 speed v2 than the speed v1 of the leading vehicle 1 travelling in an adjacent Iane L2.
The leading vehicle 1 is here a heavy vehicle in the shape of a truck. The leading vehicle 1 is behind another vehicle 3 travelling in the inner Iane L2 with a speed v3 slightly lower than the leading vehicle 1.
By means of a system according to the present invention an accident may be avoided by establishing contact between said vehicles 1, 2 within a vehicle- to-vehicle communication arrangement and/or within a vehicle-to- infrastructure communication arrangement and communicating the risk of an accident by means of said communication arrangement to at least one of the vehicles 1, 2 so that e.g. the leading vehicle will avoid overtaking the vehicle 3 so that the trailing vehicle may pass.
Fig. 3 schematically illustrates a system I for preventing a trailing vehicle from colliding with a leading vehicle according to an embodiment of the present inven?on.
The system I comprises an electronic control unit 100. The electronic control unit 100 is arranged in the leading vehicle.
The system I is connectable to and/or comprises an electronic control unit 200 of an approaching vehicle 2. The electronic control unit 200 is thus arranged in the trailing vehicle 2. The electronic control unit 200 constitutes or comprises communication means for establishing a vehicle-to-vehicle communication arrangement with another vehicle such as said leading vehicle and is according to an embodiment arranged to receive information such as warnings to be displayed on a display unit and/or to be presented in the trailing, i.e. approaching, vehicle in the form of an alarm or the like.
The system I is connectable to and/or comprises an electronic control unit 300 of an infrastructure arrangement. The electronic control unit 300 constitutes or comprises communication means for establishing a vehicle-to- 10 15 20 25 infrastructure communication arrangement with the leading vehicle and/or the trailing vehicle and is according to an embodiment arranged to receive information such as warnings from the leading vehicle and/or the trailing vehicle and send information such as warnings to the leading vehicle and/or the trailing vehicle.
The system I comprises means 110 for determining the existence of a trailing vehicle approaching said leading vehicle.
The means 110 for determining said existence comprises means 110a for determining the lane in which the trailing vehicle is approaching The system I comprises means 110a for determining the lane in which the trailing vehicle is approaching.
The means 110 for determining said existence comprises means 112 for establishing contact between said vehicles within a communication arrangement, said communication arrangement comprising a vehicle-to- vehicle communication arrangement V2V and/or a vehicle-to-infrastructure communication arrangement V2l. The means 112 for establishing contact between said vehicles within a communication arrangement comprises establishing contact with said trailing vehicle. The means 112 for establishing contact between said vehicles within a communication arrangement comprises receiving information about said trailing vehicle.
The means 112 for establishing contact between said vehicles within a communication arrangement comprises means 112a for establishing contact between said vehicles within a vehicle-to-vehicle communication arrangement V2V. The means 112a for establishing contact between said vehicles within a vehicle-to-vehicle communication arrangement V2V comprises establishing contact with said trailing vehicle.
The means 112 for establishing contact between said vehicles within a communication arrangement comprises means 112b for establishing contact 10 15 20 25 between said vehicles within a vehicle-to-infrastructure communication arrangement V2|. The means 112b for estabiishing contact between said vehicles within a vehicle-to-infrastructure communication arrangement V2| comprises receiving information about said trailing vehicle. The means 112 comprises means 112b for receiving information about said trailing vehicle.
The means 110 for determining said existence comprises according to an embodiment detection means 114. Hereby redundancy to the means 112 for estabiishing contact between said vehicles within a communication arrangement is obtained.
Said detection means 114 comprises a radar unit 114a.
Said detection means 114 comprises a camera unit 114b.
Said detection means 114 comprises a laser scanner unit 114c.
The means 110a for determining the lane in which the trailing vehicle is approaching comprises according to an embodiment the means 112 for estabiishing contact between said vehicles within a communication arrangement comprises, i.e. the means 112a for establishing contact between said vehicles within a vehicle-to-vehicle communication arrangement V2V and/or the means 112b for estabiishing contact between said vehicles within a vehicle-to-infrastructure communication arrangement V2|.
The means 110a for determining the lane in which the trailing vehicle is approaching comprises according to an embodiment, the detection means 114 comprising the radar unit 114a and/or the camera unit 114b and/or the laser scanner unit.
The system I comprises means 120 for determining a relative speed between the leading vehicle and the trailing vehicle approaching the leading vehicle. 10 15 20 25 10 The means 120 for determining a relative speed between the leading vehicle and the trailing vehicle comprises according to an embodiment the means 112 for establishing contact between said vehicles, i.e. the vehicle-to-vehicle V2V and/or a communication arrangement V2|. The means 120 for determining a relative communication arrangement vehicle-to-infrastructure speed between the leading vehicle and the trailing vehicle comprises a radar unit and/or a camera unit and/or a laser scanner unit. The radar unit comprises according to an embodiment the radar unit 114a. The camera unit comprises according to an embodiment the camera unit 114b. The laser scanner unit comprises according to an embodiment the laser scanner unit 114C.
The means 120 for determining a relative speed between the leading vehicle and the trailing vehicle comprises means 122 for determining the speed of the leading vehicle. The means 122 for determining the speed of the leading vehicle comprises the speedometer of the leading vehicle.
The means 120 for determining a relative speed between the leading vehicle and the trailing vehicle comprises means 124 for determining the speed of the trailing vehicle. The means 124 for determining the speed of the trailing vehicle comprises the speedometer of the trailing vehicle.
The system I comprises means 130 for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision.
The means 130 for taking action is configured to be performed in case the trailing vehicle is approaching in the same lane as the leading vehicle.
The means 130 for taking action comprises means 132 for communicating said risk for collision by means of said communication arrangements to at least one of the vehicles. The means 132 for communicating said risk for collision by means of said communication arrangement to at least one of the vehicles comprises receiving information about said risk in the leading vehicle. The means 130 for taking action comprises means 132 for receiving 10 15 20 25 11 information about said risk for collision by means any of said communication arrangements in the leading vehicle.
The means 132 for communicating said risk for collision by means of said communication arrangement to at least one of the vehicles comprises means 132a for communicating said risk for collision by means of the vehicle-to- vehicle communication arrangement V2V.
The means 132 for communicating said risk for collision by means of said communication arrangement to at least one of the vehicles comprises means 132b for communicating said risk for collision by means of the vehicle-to- infrastructure communication arrangement V2|.
The means 130 for taking action comprises means 134 for visually warning the driver.
The means 134 for visually warning the driver comprises means 134a for displaying a warning internally on a display unit.
The means 134 for visually warning the driver comprises a head-up-display unit 134b.
The means 134 for visually warning the driver comprises means 134c for externally displaying a warning by generating a projection on the ground by illumination. Said means 134c for externally displaying a warning by generating a projection on the ground by illumination may comprise any suitable light means for illuminating the ground. The projection may comprise any suitable symbol and/or text in order to inform the driver of the approaching vehicle. Said means 134c for externally displaying a warning by generating a projection on the ground by illumination may comprise means for flashing the illuminated projection on the ground in order to get the attention of the driver of the approaching vehicle. 10 15 20 25 12 The means 130 for taking action comprises means 136 for audibly warning the driver. The means 136 for audibly warning the driver may comprise any suitable means such as an alarm, a voice message or the like.
The means 130 for taking action comprises tactile means 138. The tactile means 138 may comprise tactile activations such as vibrations or the like in the steering wheel, the gas pedal, the brake pedal, the driver seat or the like so as to get the attention of the driver.
The means 130 for taking action comprises means 139 for controlling the conveyance of the vehicle so as to change lane to allow the approaching trailing vehicle to pass if deemed possible.
The electronic control unit 100 is operatively connected to the means 110 for determining the existence of a trailing vehicle approaching said leading vehicle via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 110 representing data for determining the existence of a trailing vehicle approaching said leading vehicle.
The electronic control unit 100 is operatively connected to the means 110a for determining the lane in which the trailing vehicle is approaching via a link 10a. The electronic control unit 100 is via the link 10a arranged to receive a signal from said means 110 representing data for determining the lane in which the trailing vehicle is approaching.
The electronic control unit 100 is operatively connected to the means 110a for determining the lane in which the trailing vehicle is approaching via a link 10a. The electronic control unit 100 is via the link 10a arranged to receive a signal from said means 110a representing data for determining the lane in which the trailing vehicle is approaching.
The electronic control unit 100 is operatively connected to the means 112 for establishing contact between said vehicles within a communication 10 15 20 25 13 arrangement via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from and/or send a signal to said means 112 representing data for establishing contact between said vehicles within the communication arrangement.
The electronic control unit 100 is operatively connected to the means 112a for establishing contact between said vehicles within a vehicle-to-vehicle communication arrangement V2V via a link 12a. The electronic control unit 100 is via the link 12a arranged to receive a signal from and/or send a signal to said means 112a representing data for establishing contact between said vehicles within said vehicle-to-vehicle communication arrangement V2V.
The electronic control unit 100 is operatively connected to the means 112b for establishing contact between said vehicles within a vehicle-to- infrastructure communication arrangement V2l via a link 12b. The electronic control unit 100 is via the link 12b arranged to receive a signal from and/or send a signal to said means 112b representing data for establishing contact between said vehicles within said vehicle-to-infrastructure communication arrangement V2l.
The electronic control unit 200 is operatively connected to the means 112 for establishing contact between said vehicles within a communication arrangement via a link 212. The electronic control unit 200 is via the link 212 arranged to receive a signal from and/or send a signal to said means 112 representing data for establishing contact between said vehicles within the communication arrangement.
The electronic control unit 200 is operatively connected to the means 112a for establishing contact between said vehicles within a vehicle-to-vehicle communication arrangement V2V via a link 212a. The electronic control unit 200 is via the link 212a arranged to receive a signal from and/or send a signal to said means 112a representing data for establishing contact between said vehicles within said vehicle-to-vehicle communication arrangement V2V. 10 15 20 25 14 The electronic control unit 300 is operatively connected to the means 112b for establishing contact between said vehicles within a vehicle-to- infrastructure communication arrangement V2| via a link 312b. The electronic control unit 100 is via the link 312b arranged to receive a signal from and/or send a signal to said means 112b representing data for establishing contact between said vehicles within said vehicle-to-infrastructure communication arrangement V2|.
The electronic control unit 100 is operatively connected to the detection means 114 via a link 14. The electronic control unit 100 is via the link 14 arranged to receive a signal from said detection means 114 representing detection data for detected existence of a trailing vehicle approaching said leading vehicle.
The electronic control unit 100 is operatively connected to the radar unit 114a via a link 14a. The electronic control unit 100 is via the link 14a arranged to receive a signal from said radar unit 114a representing radar detection data for detected existence of a trailing vehicle approaching said leading vehicle.
The electronic control unit 100 is operatively connected to the radar unit 114a via a link 14a. The electronic control unit 100 is via the link 14a arranged to receive a signal from said radar unit 114a representing radar detection data for detected existence of a trailing vehicle approaching said leading vehicle.
The electronic control unit 100 is operatively connected to the camera unit 114b via a link 14b. The electronic control unit 100 is via the link 14b arranged to receive a signal from said camera unit 114b representing camera detection data for detected existence of a trailing vehicle approaching said leading vehicle.
The electronic control unit 100 is operatively connected to the laser scanner unit 114c via a link 14c. The electronic control unit 100 is via the link 14c arranged to receive a signal from said laser scanner unit 114c representing 10 15 20 25 15 laser scanner detection data for detected existence of a trailing vehicle approaching said leading vehicle.
The electronic control unit 100 is operatively connected to the means 120 for determining a relative speed between the leading vehicle and the trailing vehicle approaching the leading vehicle via a link 20. The electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data for relative speed between the leading vehicle and the trailing vehicle.
The electronic control unit 100 is operatively connected to the means 130 for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data for taking action if the relative speed of said vehicles indicates a risk for collision.
The electronic control unit 100 is operatively connected to the means 132 for communicating said risk by means of said communication arrangement to at least one of the vehicles via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from and/or send a signal to said means 132 representing communication data for communicating said risk by means of said communication arrangement to at least one of the vehicles.
The electronic control unit 100 is operatively connected to the means 132a for communicating said risk by means of said vehicle-to-vehicle communication arrangement V2V to at least one of the vehicles via a link 32a. The electronic control unit 100 is via the link 32a arranged to receive a signal from and/or send a signal to said means 132a representing communication data for communicating said risk by means of said vehicle-to- vehicle communication arrangement V2V to at least one of the vehicles.
The electronic control unit 100 is operatively connected to the means 132b for communicating said risk by means of said vehicle-to-infrastructure 10 15 20 25 16 communication arrangement V2| to at least one of the vehicles via a link 32b.
The electronic control unit 100 is via the link 32b arranged to receive a signal from and/or send a signal to said means 132b representing communication data for communicating said risk by means of said vehicle-to-infrastructure communication arrangement V2| to at least one of the vehicles.
The electronic control unit 200 is operatively connected to the means 132 for communicating said risk by means of said communication arrangement to at least one of the vehicles via a link 232. The electronic control unit 200 is via the link 232 arranged to receive a signal from and/or send a signal to said means 132 representing communication data for communicating said risk by means of said communication arrangement to at least one of the vehicles.
The electronic control unit 200 is operatively connected to the means 132a for communicating said risk by means of said vehicle-to-vehicle communication arrangement V2V to at least one of the vehicles via a link 232a. The electronic control unit 200 is via the link 232a arranged to receive a signal from and/or send a signal to said means 132a representing communication data for communicating said risk by means of said vehicle-to- vehicle communication arrangement V2V to at least one of the vehicles.
The electronic control unit 300 is operatively connected to the means 132b for communicating said risk by means of said vehicle-to-infrastructure communication arrangement V2| to at least one of the vehicles via a link 332b. The electronic control unit 100 is via the link 332b arranged to receive a signal from and/or send a signal to said means 132b representing communication data for communicating said risk by means of said vehicle-to- infrastructure communication arrangement V2| to at least one of the vehicles.
The electronic control unit 100 is operatively connected to the means 134 for visually warning the driver via a link 34. The electronic control unit 100 is via the link 34 arranged to send a signal to said means 134 representing data for visually warning the driver. 10 15 20 25 17 The electronic control unit 100 is operatively connected to the means 134a for displaying a warning internally on a display unit via a link 34a. The electronic control unit 100 is via the link 34a arranged to send a signal to said means 134a representing data for displaying a warning internally on a display unit.
The electronic control unit 100 is operatively connected to the head-up- display unit 134b via a link 34b. The electronic control unit 100 is via the link 34b arranged to send a signal to said head-up-display unit 134b representing data for displaying a warning on a head-up-display unit.
The electronic control unit 100 is operatively connected to the means 134c for externally displaying a warning by generating a projection on the ground by illumination via a link 34c. The electronic control unit 100 is via the link 34c arranged to send a signal to said means 134c representing data for displaying a warning by generating a projection on the ground by illumination.
The electronic control unit 100 is operatively connected to the means 136 for audibly warning the driver via a link 36. The electronic control unit 100 is via the link 36 arranged to send a signal to said means 136 representing data for audibly warning the driver.
The electronic control unit 100 is operatively connected to the tactile means 138 via a link 38. The electronic control unit 100 is via the link 38 arranged to send a signal to said tactile means 138 representing tactile data for warning the driver by means of said tactile means 138.
The electronic control unit 100 is operatively connected to the means 139 for controlling the conveyance of the vehicle so as to change lane to allow the approaching trailing vehicle to pass if deemed possible via a link 39. The electronic control unit 100 is via the link 39 arranged to send a signal to said means 139 representing data for controlling the conveyance of the vehicle so as to change lane. 10 15 20 25 18 Fig. 4 schematically illustrates a block diagram of a method for preventing a trailing vehicle from colliding with a leading vehicle.
According to the embodiment the method for preventing a trailing vehicle from colliding with a leading vehicle comprises a step S1. ln this step the existence of a trailing vehicle approaching said leading vehicle is determined.
The step S1 comprises the step Sia of establishing contact with said trailing vehicle via a vehicle-to-vehicle communication arrangement.
The step S1 comprises in addition or as an alternative the step S1b of receiving information about the trailing vehicle via a vehicle-to-infrastructure communication arrangement.
According to the embodiment the method for preventing a trailing vehicle from colliding with a leading vehicle comprises a step S2. ln this step a relative speed for said vehicles is determined.
According to the embodiment the method for preventing a trailing vehicle from colliding with a leading vehicle comprises a step S3. ln this step action is taken if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision. The step S3 comprises the step S3a of receiving information about said risk by means of any of said communication arrangements in the leading vehicle. Said risk may also be communicated by means of said communication arrangement to the approaching trailing vehicle.
With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non- volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, 10 15 20 25 30 19 a serial communication port, I/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for preventing a trailing vehicle from colliding with a leading vehicle. The program P comprises routines for determining the existence of a trailing vehicle approaching said leading vehicle. The routines for determining the existence of a trailing vehicle approaching said leading vehicle comprises routines for establishing contact with said trailing vehicle within a vehicle-to-vehicle communication arrangement. The routines for determining the existence of a trailing vehicle approaching said leading vehicle comprises routines for receiving (S1b) information about the trailing vehicle via a vehicle-to- infrastructure communication arrangement. The program P comprises routines for determining a relative speed for said vehicles. The program P comprises routines for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision. The routines for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision comprises routines for receiving information about said risk by means of any of said communication arrangements in the leading vehicle. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512.
Separate memory 560 is adapted for communication with data processing 10 15 20 25 30 20 device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control unit 100 may be connected.
When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining the existence of a trailing vehicle approaching said leading vehicle. The signals received on data port 599 used by apparatus 500 for determining the existence of a trailing vehicle approaching said leading vehicle can be used by apparatus 500 for establishing contact with said said trailing vehicle within a vehicle-to-vehicle communication arrangement. The signals received on data port 599 used by apparatus 500 for determining the existence of a trailing vehicle approaching said leading vehicle can be used by apparatus 500 for receiving information about the trailing vehicle a vehicle-to-infrastructure communication arrangement. The signals received on data port 599 can be used by apparatus 500 for determining a relative speed for said vehicles. The signals received on data port 599 can be used by apparatus 500 for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision. The signals received on data port 599 used by apparatus 500 for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision can be used by apparatus 500 for receiving information about said risk by means of any of said communication arrangements in the leading vehicle.
Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed. 10 21 The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. lt is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims (15)

10 15 20 25 22 CLA|I\/IS
1. A method for preventing a trailing vehicle from colliding with a leading vehicle, comprising the steps of: determining (S1) the existence of a trailing vehicle approaching said leading vehicle; determining (S2) a relative speed for said vehicles; taking action (S3) if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision, characterized in that the step of determining said existence comprises the steps of: establishing (S1a) contact with said trailing vehicle via a vehicle-to-vehicle communication arrangement; and/or receiving (S1b) information about the trailing vehicle via a vehicle-to-infrastructure communication arrangement, wherein the step of taking action comprises the step of receiving (S3a) information about said risk by means of any of said communication arrangements in the leading vehicle.
2. A method according to claim 1, wherein the step of determining said existence comprises the step of determining the lane in which the trailing vehicle is approaching.
3. A method according to claim 2, wherein the step of taking action is performed taking the lane in which the trailing vehicle is approaching into consideration.
4. A method according to any preceding claims, wherein the step of taking action comprises the step of warning the driver visually and/or audibly and/or by tactile means.
5. A method according to claim 4, wherein the step of visually warning the driver comprises displaying a warning internally on a display unit and/or a head-up-display and/or externally by generating a projection on the ground by illumination.
6. A method according to any preceding claims, wherein the step of taking action comprises the step of controlling the conveyance of the vehicle so as 10 15 20 25 23 to change lane to allow the approaching trailing vehicle to pass if deemed possible.
7. A system (I) for preventing a trailing vehicle (2) from colliding with a leading vehicle (1), comprising means (110) for determining the existence of a trailing vehicle (2) approaching said leading vehicle (1); means (120) for determining a relative speed for said vehicles (1, 2); and means for taking action if the relative speed of said vehicles indicates a risk for collision so as to prevent said collision, characterized in that the means (110) for determining said existence comprises means (112a) for establishing contact with said trailing vehicle (2) via a vehicle-to-vehicle communication arrangement (V2V) and/or means (112b) for receiving information about the trailing vehicle (2) via a vehicle-to-infrastructure communication arrangement (V2l), wherein the means (130) for taking action comprises means (132) for receiving information about said risk by means of any of said communication arrangements in the leading vehicle (1 ).
8. A system according to claim 7, wherein means (110) for determining said existence comprises means (110a) for determining the Iane in which the trailing vehicle is approaching.
9. A system according to claim 8, wherein the means (130) for taking action is arranged to be performed taking the Iane in which the trailing vehicle is approaching into consideration.
10. A system according to any of claim 7-9, wherein the means (130) for taking action comprises means (134) for visually warning the driver and/or means (136) for audibly warning the driver and/or tactile means (138).
11. A system according to claim 10, wherein the means for visually warning the driver comprises means (134a) for displaying a warning internally on a display unit and/or a head-up-display (134b) and/or means (134c) for externally displaying a warning by generating a projection on the ground by illumination. 10 24
12. A system according to any of claim 7-11, wherein the means (130) for taking action comprises the means (139) for controiiing the conveyance of the vehicle so as to change Iane to allow the approaching trailing vehicle to pass if deemed possible.
13. A vehicle (1) comprising a system (I) according to any of claims 7-12.
14. A computer program (P) for preventing a trailing vehicle from colliding with a leading vehicle, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-6.
15. A computer program product comprising a digital storage medium storing the computer program according to claim 14.
SE1451483A 2014-12-05 2014-12-05 Method and system for preventing a trailing vehicle from colliding with a leading vehicle SE541474C2 (en)

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SE1451483A SE541474C2 (en) 2014-12-05 2014-12-05 Method and system for preventing a trailing vehicle from colliding with a leading vehicle
DE102015015258.0A DE102015015258A1 (de) 2014-12-05 2015-11-26 Verfahren und System zur Verhinderung einer Kollision zwischen einem hinterherfahrenden Fahrzeug und einem vorausfahrenden Fahrzeug

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CN107776525A (zh) * 2016-08-26 2018-03-09 北京汽车股份有限公司 车辆防碰撞系统、车辆及其防碰撞方法
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