WO2005014370A1 - Method for the prevention of collisions of a vehicle - Google Patents

Method for the prevention of collisions of a vehicle Download PDF

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Publication number
WO2005014370A1
WO2005014370A1 PCT/EP2004/008571 EP2004008571W WO2005014370A1 WO 2005014370 A1 WO2005014370 A1 WO 2005014370A1 EP 2004008571 W EP2004008571 W EP 2004008571W WO 2005014370 A1 WO2005014370 A1 WO 2005014370A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
objects
stored
collision
surroundings
Prior art date
Application number
PCT/EP2004/008571
Other languages
German (de)
French (fr)
Inventor
Alexander Schanz
Andreas Spieker
Original Assignee
Daimlerchrysler Ag
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 Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2005014370A1 publication Critical patent/WO2005014370A1/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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • 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
    • B60W2050/143—Alarm 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
    • 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
    • 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

Definitions

  • the invention relates to a method for preventing damage to a vehicle due to a collision, in which the surroundings of the vehicle are detected, the current distances to other objects are determined, and a collision is avoided by means of automatically suitable braking and / or automatically suitable interventions in the steering the driver is warned of a collision.
  • an automatic parking device for motor vehicles which has motion sensors for measuring the movement distance of the car, obstacle sensors for determining the position of the obstacles around a car and a microcomputer which, in accordance with the instructions of the Driver and the data obtained from the aforementioned motion sensors and obstacle sensors generates numerous signals to instruct the driver to advance, stop, turn left or right or reset to park the car along a specific path. Furthermore, the microcomputer can generate an output signal to control the control mechanism, the gear shift, the accelerator and the braking system in order to automatically park the car.
  • DE 198 09 416 AI describes a method for assisted parking of a motor vehicle and an apparatus for performing the method.
  • a downstream processing device uses the distance data to determine the size of a potential parking space and, if appropriate, the type of its surroundings, and a possible strategy for parking the motor vehicle in the potential parking space.
  • the strategy determined is output to the driver by means of a display device.
  • the object of the present invention is to provide a method for preventing damage to a vehicle due to a collision, with which collisions with stationary or slowly moving obstacles can be reliably avoided.
  • This object is achieved according to the invention by a method of the type mentioned at the outset, in which information about the detected environment is stored, the position of the vehicle is detected and the distance to objects detected in the past is determined.
  • This measure makes it possible to also look at the surroundings of the vehicle in the past in order to avoid future collisions. In this way, a model of the surroundings of the vehicle can be created.
  • distances to objects can be determined or calculated that are currently not seen or detected by the vehicle's sensor system. Because the position of the vehicle is recorded and the recorded environment is saved, a local coordinate system can be set up in which the other objects are stored and a correlation to the other objects can be created.
  • the position of the vehicle can be determined globally and / or relative to the detected objects.
  • the method according to the invention avoids damage to the vehicle or to objects (obstacles) which can occur on these objects by driving onto these objects or scarring along them. Interventions in the steering and / or in the service or parking brake are provided for this purpose. Depending on the environment-sensing sensors used, moving and non-moving other objects can be recorded and stored. The sensor data can be evaluated and / or processed before or after storage.
  • the method according to the invention is therefore not limited to a parking aid, but is suitable for avoiding collisions in flowing, in particular in slowly flowing, traffic.
  • the movement of the vehicle and / or the other objects is recorded.
  • the position or movement of the vehicle and the external objects can be determined, for example, by a laser scanner, by ultrasound sensors, by radar, by cameras with downstream image processing, by wheel speed sensors, yaw rate sensors, global positioning system (GPS), optical systems for determining transverse speed (correvit) as well as longitudinal and transverse sensors, the one Determine the longitudinal and transverse movement of objects or the vehicle.
  • GPS global positioning system
  • a representation of the surroundings of the vehicle is created in which information about the position and the movement behavior of the vehicle and the other objects is stored or displayed.
  • a representation can be, for example, a local map in the vicinity of the vehicle. This map shows the position of the vehicle and the position of objects or obstacles that are currently and in the past recognized. In particular, the position, the own movement behavior, the positions and the movement behavior of the recognized objects are related to each other in the map.
  • the use of such a card is particularly suitable for taking into account moving other objects in collision monitoring. Possible collisions with a recently detected moving object can be identified and avoided.
  • it is possible to classify the other objects that is to say in particular to indicate whether the object is a wall, a car, a pedestrian or the like.
  • the different objects can be displayed differently on the map.
  • the movement behavior of the objects can be determined, for example, by tracking or by Cayman filtering, i.e. an estimate of several measurement data and a mathematical model.
  • Cayman filtering i.e. an estimate of several measurement data and a mathematical model.
  • the stored environment or the stored information about the environment and / or the display is updated and managed becomes.
  • the stored data or the representation (map) are kept up to date and a collision can be reliably avoided.
  • the minimum distances at which a collision can be avoided by braking and / or avoiding are advantageously determined.
  • the minimum distances can depend on the vehicle speed or on the relative speed to the other objects. Therefore, the minimum distances can change and it is advantageous not to choose a predetermined minimum distance but to adapt the minimum distances to the respective situation. Different minimum distances can apply to different points of the vehicle, in particular for different distance sensors. If a vehicle travels in one direction, for example, then the minimum distances in the direction of travel may be larger than perpendicular to the direction of travel. In particular, in the case of slow-moving traffic, a greater safety distance must be maintained from a vehicle traveling ahead in the same lane than from the side of a parked vehicle.
  • the driver is visually and / or acoustically and / or haptically warned of a collision.
  • the driver is made aware of a possible collision by vibration of the steering wheel and / or the pedals.
  • the driving seat is set in motion.
  • the driver can be made aware of a dangerous situation by briefly abruptly braking the vehicle.
  • a system for preventing damage to a vehicle comprising a sensor system for detecting the surroundings of the vehicle, actuating means for automatic braking and / or steering to avoid collisions with other objects and / or a warning device, and a control unit for Determination of the distance of the vehicle to objects in the vicinity of the vehicle from the signals from the sensors and for the generation of signals for automatic braking and / or steering and / or warning to avoid collisions, a position detection device for detecting the position of the vehicle , a storage device for storing the environmental data recorded by the sensor system and means for determining the distance from stored objects are provided.
  • collisions are not only avoidable when parking, but collisions can be avoided especially in slow-moving traffic, in particular in traffic jams or in slow-moving traffic.
  • the means for determining the distance to stored objects can be arranged in the control unit.
  • a movement detection device can be provided. With such a movement detection device, both the movement of the vehicle and the other objects can be detected. A relative movement of the vehicle to the other objects can in turn be determined from the detected movements.
  • the sensor system advantageously includes distance sensors. By repetitive distance measurement between the vehicle and an object, taking into account the position or change in position of the vehicle, it can be determined whether the other object is moving or stationary, the relative Movement of the vehicle to the object can be determined and a prediction can be made for a direction of movement of the object in the future.
  • the driver can be shown a realistic image of the surroundings of the vehicle.
  • Figure 1 is a schematic representation to illustrate the inventive method and the inventive system.
  • Fig. 2 is a schematic block diagram of a system for collision avoidance.
  • FIG. 1 shows a plan view of a roadway 1, which is delimited by a roadway boundary 2.
  • Vehicles 3, 4 are parked along the lane boundary 2. You are therefore at a standstill.
  • a vehicle 5 in which the collision avoidance system according to the invention is implemented runs parallel to vehicles 3, 4 in the direction of arrow 6.
  • a vehicle 7 is traveling in the same lane and immediately behind it Vehicle 5 drives vehicle 8.
  • vehicles 9, 10 drive in the same direction at a higher speed than vehicle 5.
  • Distance sensors 11-16 are provided on vehicle 5, which detect the surroundings in the vicinity of vehicle 5.
  • the vehicles 3, 4, 7, 9, 10 are detected in the direction of the arrows 6, 17-20 and the current distance to the vehicles 3, 4, 7, 9, 10 is determined.
  • the absolute and relative speeds of vehicles 3, 4, 7, 9, 10 can be determined.
  • a model of the surroundings of the vehicle 5 can be determined for the area 21 with the currently determined and stored data.
  • a type of map can be generated that can also be visualized for the driver of vehicle 5.
  • the vehicle 8 is no longer detected by the distance sensors 13, 14. However, since it was recorded before the vehicle 5 accelerated, this information is still available to the system, so that the area 21 also contains objects such as the vehicle 8 that can be taken into account in collision monitoring, although it is not currently detected become.
  • the driver of the vehicle 5 may intend to steer onto the lane in front of the vehicle 4. It is conceivable that at the moment of the intended lane change, the vehicle 4 is not being detected by the distance sensors 11, 12, 13, but a lane change would lead to a collision with the vehicle 4. Since the position of the vehicle 4 was recorded and stored in the past, the system determines from this data and the movement of the vehicle 5 since then or current position that a collision is to be feared and warns the driver or automatically performs a braking and / or steering intervention in order to prevent the collision.
  • the system can determine the distance to the vehicle 5 in such a way that there is no collision when the vehicle 10 cuts in.
  • a predictive driving style can therefore be simulated by the system.
  • the system 30 comprises a control unit 31, which is connected to a sensor system 32.
  • the sensor system 32 comprises a plurality of distance sensors 33 and cameras 34.
  • the data from the sensor system 32 are fed to the control unit 31, where the data are processed, evaluated and stored.
  • Means for recognizing and classifying objects are provided in the control unit 31.
  • the means are in particular an image processing unit which determines the objects from the camera images and classifies them, for example into moving or stationary objects, houses, vehicles or pedestrians.
  • the control unit 31 is assigned a memory 35 in which the environmental data determined by the sensor system 32 are stored.
  • the control unit 31 also receives data from a position detection device 36 and a movement detection device 37, for example, a wheel speed sensor. An impending collision with another object can be determined from this data. If an impending collision is detected, the control unit 31 controls actuating means 38, 39 designed as motors in order to influence the steering and / or brake of the vehicle in such a way that that a collision is avoided.
  • the recorded and stored data can also be used to generate an image of the surroundings, in particular a map of the surroundings of the vehicle, which can be displayed to the driver via a display unit 40.
  • the invention relates to a method for collision avoidance of a vehicle (5) with other objects, in which the surroundings of the vehicle (5) are continuously detected, the distance to other objects is determined and stored, and from the detected position of the vehicle and the current and stored ones An upcoming collision is determined by environmental data and is prevented by appropriate interventions in the brake and / or steering.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for preventing a vehicle (5) from colliding with other objects. According to said method, the surroundings of the vehicle (5) are continuously detected, the distance to other objects is determined and stored, and an imminent collision is determined from the detected position of the vehicle as well as the current and stored data regarding the surroundings and is prevented by adequate interventions in the brake and/or the steering system.

Description

Verfahren zum Vermeiden von Kollisionen eines Fahrzeugs Method for avoiding collisions of a vehicle
Die Erfindung betrifft ein Verfahren zum Verhindern von Schäden an einem Fahrzeug aufgrund einer Kollision, bei dem die Umgebung des Fahrzeugs erfasst wird, die momentanen Abstände zu anderen Objekten bestimmt werden und eine Kollision durch automatisches geeignetes Abbremsen und/oder automatische geeignete Eingriffe in die Lenkung vermieden wird oder der Fahrer vor einer Kollision gewarnt wird.The invention relates to a method for preventing damage to a vehicle due to a collision, in which the surroundings of the vehicle are detected, the current distances to other objects are determined, and a collision is avoided by means of automatically suitable braking and / or automatically suitable interventions in the steering the driver is warned of a collision.
Aus der DE 38 13 083 AI ist eine automatische Einparkeinrichtung für Kraftfahrzeuge bekannt geworden, die BewegungsSensoren zur Messung der Bewegungsstrecke des Wagens, Hindernis- Sensoren zum Ermitteln der Position der Hindernisse um einen Wagen herum und einen Mikrocomputer aufweist, der in Übereinstimmung mit den Instruktionen des Fahrers und der von den vorstehend genannten Bewegungssensoren und Hindernissensoren erhaltenen Daten zahlreiche Signale erzeugt, um den Fahrer anzuweisen, den Wagen vorzusetzen, zu stoppen, nach links o- der rechts zu fahren oder zurückzusetzen, um den Wagen entlang einem speziellen Weg einzuparken. Weiterhin kann der Mikrocomputer ein Ausgangssignal erzeugen, um den Steuerungsmechanismus, die Gangschaltung, die Beschleunigungseinrichtung und das Bremssystem zu steuern, um den Wagen automatisch einzuparken. Aus der DE 198 09 416 AI ist ein Verfahren zum unterstützten Einparken eines Kraftfahrzeugs und eine Vorrichtung zum Durchführen des Verfahrens beschrieben. Von einer Rundu sen- sorik mit einer Vielzahl von Abstandssensoren werden Objekte im Nahbereich um das Kraftfahrzeug und ihre Abstände zum Kraftfahrzeug erfasst . Eine nachgeschaltete Verarbeitungseinrichtung ermittelt aus den Abstandsdaten die Größe einer potentiellen Parklücke und gegebenenfalls die Art ihrer Umgebung sowie eine mögliche Strategie zum Einparken des Kraftfahrzeugs in der potentiellen Parklücke. Die ermittelte Strategie wird an den Fahrer mittels einer Anzeigeeinrichtung ausgegeben.From DE 38 13 083 AI an automatic parking device for motor vehicles has become known which has motion sensors for measuring the movement distance of the car, obstacle sensors for determining the position of the obstacles around a car and a microcomputer which, in accordance with the instructions of the Driver and the data obtained from the aforementioned motion sensors and obstacle sensors generates numerous signals to instruct the driver to advance, stop, turn left or right or reset to park the car along a specific path. Furthermore, the microcomputer can generate an output signal to control the control mechanism, the gear shift, the accelerator and the braking system in order to automatically park the car. DE 198 09 416 AI describes a method for assisted parking of a motor vehicle and an apparatus for performing the method. Objects in the vicinity of the motor vehicle and their distances from the motor vehicle are detected by a round sensor system with a large number of distance sensors. A downstream processing device uses the distance data to determine the size of a potential parking space and, if appropriate, the type of its surroundings, and a possible strategy for parking the motor vehicle in the potential parking space. The strategy determined is output to the driver by means of a display device.
Mit den bekannten Einparkhilfen ist es möglich, die momentane Umgebung eines Kraftfahrzeugs zu erfassen und aus den ermittelten Daten eine Fahrstrecke zu ermitteln, der entweder automatisch gefolgt wird oder die dem Fahrer mitgeteilt wird. Mit diesen Einparkhilfen ist es nicht möglich, Kollisionen des Fahrzeugs mit anderen Objekten zu vermeiden, die von der Sensorik momentan nicht erfasst werden.With the known parking aids, it is possible to record the current surroundings of a motor vehicle and to determine a driving route from the determined data, which is either followed automatically or which is communicated to the driver. With these parking aids, it is not possible to avoid collisions between the vehicle and other objects that are not currently detected by the sensors.
Aufgabe der vorliegenden Erfindung ist es, demgegenüber, ein Verfahren zum Verhindern von Schäden an einem Fahrzeug aufgrund einer Kollision zu schaffen, mit dem Kollisionen mit stehenden oder sich langsam bewegenden Hindernissen zuverlässig vermieden werden kann.In contrast, the object of the present invention is to provide a method for preventing damage to a vehicle due to a collision, with which collisions with stationary or slowly moving obstacles can be reliably avoided.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren der eingangs genannten Art gelöst, bei dem Information über die erfasste Umgebung gespeichert wird, die Position des Fahrzeugs erfasst wird und der Abstand zu in der Vergangenheit erfassten Objekten ermittelt wird. Durch diese Maßnahme ist es möglich, auch die Umgebung des Fahrzeugs in der Vergangenheit zu betrachten, um zukünftige Kollisionen zu vermeiden. Es kann auf diese Art und Weise ein Modell der Umgebung des Fahrzeugs erstellt werden. Insbesondere können Abstände zu Objekten ermittelt bzw. berechnet werden, die momentan von der Sensorik des Fahrzeugs nicht gesehen beziehungsweise er- fasst werden. Dadurch, dass die Position des Fahrzeugs er- fasst wird und die erfasste Umgebung gespeichert wird, kann ein lokales Koordinatensystem aufgestellt werden, in dem die anderen Objekte abgespeichert sind und kann eine Korrelation zu den anderen Objekten erstellt werden. Die Position des Fahrzeugs kann dabei global und/oder relativ zu den erfassten Objekten bestimmt werden. Durch das erfindungsgemäße Verfahren werden Schäden am Fahrzeug beziehungsweise an Objekten (Hindernissen) , die durch Auffahren auf diese Objekte beziehungsweise Entlangschrammen an diesen Objekten entstehen können, vermieden. Dazu sind Eingriffe in die Lenkung und/oder in die Betriebs- oder Feststellbremse vorgesehen. Je nach der eingesetzten umgebungserfassenden Sensorik können bewegte und nicht bewegte andere Objekte erfasst und gespeichert werden. Die Daten der Sensorik können vor oder nach der Speicherung ausgewertet und/oder verarbeitet werden. Das erfindungsgemäße Verfahren ist daher nicht auf eine Einparkhilfe beschränkt, sondern ist geeignet, Kollisionen im fließenden, insbesondere im langsam fließenden Verkehr zu vermeiden.This object is achieved according to the invention by a method of the type mentioned at the outset, in which information about the detected environment is stored, the position of the vehicle is detected and the distance to objects detected in the past is determined. This measure makes it possible to also look at the surroundings of the vehicle in the past in order to avoid future collisions. In this way, a model of the surroundings of the vehicle can be created. In particular, distances to objects can be determined or calculated that are currently not seen or detected by the vehicle's sensor system. Because the position of the vehicle is recorded and the recorded environment is saved, a local coordinate system can be set up in which the other objects are stored and a correlation to the other objects can be created. The position of the vehicle can be determined globally and / or relative to the detected objects. The method according to the invention avoids damage to the vehicle or to objects (obstacles) which can occur on these objects by driving onto these objects or scarring along them. Interventions in the steering and / or in the service or parking brake are provided for this purpose. Depending on the environment-sensing sensors used, moving and non-moving other objects can be recorded and stored. The sensor data can be evaluated and / or processed before or after storage. The method according to the invention is therefore not limited to a parking aid, but is suitable for avoiding collisions in flowing, in particular in slowly flowing, traffic.
Bei einer besonders bevorzugten Verfahrensvariante wird die Bewegung des Fahrzeugs und/oder der anderen Objekte erfasst . Durch diese Maßnahme wird die Genauigkeit des Verfahrens erhöht . Die Positions- beziehungsweise Bewegungsbestimmung des Fahrzeugs und der externen Objekte kann beispielsweise durch einen Laserscanner, durch Ultraschallsensoren, durch Radar, durch Kameras mit nachgeschalteter Bildverarbeitung, durch Raddrehzahlsensoren, Gierratensensoren, Global Positioning System (GPS) , optischen Systemen zur Quergeschwindigkeitsbe- stimmung (Korrevit) sowie Längs- und Quersensoren, die eine Längs- und Querbewegung von Objekten beziehungsweise des Fahrzeugs ermitteln, bestimmt werden.In a particularly preferred method variant, the movement of the vehicle and / or the other objects is recorded. This measure increases the accuracy of the method. The position or movement of the vehicle and the external objects can be determined, for example, by a laser scanner, by ultrasound sensors, by radar, by cameras with downstream image processing, by wheel speed sensors, yaw rate sensors, global positioning system (GPS), optical systems for determining transverse speed (correvit) as well as longitudinal and transverse sensors, the one Determine the longitudinal and transverse movement of objects or the vehicle.
Besonders bevorzugt ist es, wenn eine Darstellung der Umgebung des Fahrzeugs erstellt wird, in der Informationen über die Position und das Bewegungsverhalten des Fahrzeugs und der anderen Objekte abgelegt bzw. dargestellt sind. Eine solche Darstellung kann beispielsweise eine lokale Karte in der Umgebung des Fahrzeugs sein. In dieser Karte sind die Position des Fahrzeugs sowie die Position von momentan und in der Vergangenheit erkannter Objekte beziehungsweise Hindernisse dargestellt. Insbesondere werden in der Karte die eigene Position, das eigene Bewegungsverhalten, die Positionen und das Bewegungsverhalten der erkannten Objekte zueinander in Beziehung gesetzt. Die Verwendung einer solchen Karte ist insbesondere geeignet, bewegte andere Objekte bei der Kollisionsüberwachung zu berücksichtigen. Mögliche Kollisionen mit einem vor kurzem erfassten bewegten Objekt können erkannt und vermieden werden. Weiterhin ist es möglich, die anderen Objekte zu klassifizieren, also insbesondere anzugeben, ob es sich bei dem Objekt um eine Wand, ein Auto, einen Fußgänger oder dergleichen handelt. Die verschiedenen Objekte können in der Karte unterschiedlich dargestellt werden. Das Bewegungsverhalten der Objekte kann beispielsweise durch Spurverfolgung (tracking) oder Kaiman-Filterung, d.h. einer Schätzung aus mehreren Messdaten und einem mathematischen Modell erfolgen. Bei der Berechnung von Abständen zwischen dem Fahrzeug und den anderen Objekten können insbesondere die Relativ- und/oder die Absolutgeschwindigkeiten sowohl des Fahrzeugs als auch der anderen Objekte berücksichtigt werden.It is particularly preferred if a representation of the surroundings of the vehicle is created in which information about the position and the movement behavior of the vehicle and the other objects is stored or displayed. Such a representation can be, for example, a local map in the vicinity of the vehicle. This map shows the position of the vehicle and the position of objects or obstacles that are currently and in the past recognized. In particular, the position, the own movement behavior, the positions and the movement behavior of the recognized objects are related to each other in the map. The use of such a card is particularly suitable for taking into account moving other objects in collision monitoring. Possible collisions with a recently detected moving object can be identified and avoided. Furthermore, it is possible to classify the other objects, that is to say in particular to indicate whether the object is a wall, a car, a pedestrian or the like. The different objects can be displayed differently on the map. The movement behavior of the objects can be determined, for example, by tracking or by Cayman filtering, i.e. an estimate of several measurement data and a mathematical model. When calculating distances between the vehicle and the other objects, in particular the relative and / or the absolute speeds of both the vehicle and the other objects can be taken into account.
Bei einer Verfahrensvariante ist vorgesehen, dass die gespeicherte Umgebung bzw. die gespeicherte Information über die Umgebung und/oder die Darstellung aktualisiert und verwaltet wird. Durch diese Maßnahme werden die gespeicherten Daten beziehungsweise die Darstellung (Karte) aktuell gehalten und eine Kollision kann sicher vermieden werden.In a method variant, it is provided that the stored environment or the stored information about the environment and / or the display is updated and managed becomes. As a result of this measure, the stored data or the representation (map) are kept up to date and a collision can be reliably avoided.
Vorteilhafterweise werden die minimalen Abstände, bei denen durch Abbremsen und/oder Ausweichen eine Kollision vermieden werden kann, ermittelt. Die minimalen Abstände können von der Fahrzeuggeschwindigkeit beziehungsweise von der Relativgeschwindigkeit zu den anderen Objekten abhängen. Daher können sich die minimalen Abstände ändern und ist es vorteilhaft, nicht einen vorgegebenen minimalen Abstand zu wählen sondern die minimalen Abstände auf die jeweilige Situation anzupassen. Dabei können für unterschiedliche Stellen des Fahrzeugs, insbesondere für unterschiedliche Abstandssensoren, unterschiedliche minimale Abstände gelten. Fährt ein Fahrzeug beispielsweise in eine Richtung, dann können in Fahrtrichtung größere minimale Abstände gelten als senkrecht zur Fahrtrichtung. Insbesondere ist bei zähfließendem Verkehr zu einem auf derselben Spur vorausfahrenden Fahrzeug ein größerer Sicherheitsabstand einzuhalten als seitlich zu einem geparkten Fahrzeug.The minimum distances at which a collision can be avoided by braking and / or avoiding are advantageously determined. The minimum distances can depend on the vehicle speed or on the relative speed to the other objects. Therefore, the minimum distances can change and it is advantageous not to choose a predetermined minimum distance but to adapt the minimum distances to the respective situation. Different minimum distances can apply to different points of the vehicle, in particular for different distance sensors. If a vehicle travels in one direction, for example, then the minimum distances in the direction of travel may be larger than perpendicular to the direction of travel. In particular, in the case of slow-moving traffic, a greater safety distance must be maintained from a vehicle traveling ahead in the same lane than from the side of a parked vehicle.
Bei einer Verfahrensvariante kann vorgesehen sein, dass der Fahrer vor einer Kollision visuell und/oder akustisch und/oder haptisch gewarnt wird.In a variant of the method it can be provided that the driver is visually and / or acoustically and / or haptically warned of a collision.
Als haptische Warnung ist es vorstellbar, dass der Fahrer auf eine mögliche Kollision durch eine Vibration des Lenkrads und/oder der Pedale aufmerksam gemacht wird. Alternativ oder zusätzlich kann vorgesehen sein, dass der Fahrsitz in Bewegung versetzt wird. Außerdem kann der Fahrer durch ein kurzzeitiges abruptes Abbremsen des Fahrzeugs auf eine Gefahrensituation aufmerksam gemacht werden. Die Aufgabe wird außerdem gelöst durch ein System zur Verhinderung von Beschädigung eines Fahrzeugs, umfassend eine Sensorik zur Erfassung der Umgebung des Fahrzeugs, Betätigungsmittel zum automatischen Bremsen und/oder Lenken zur Vermeidung von Kollisionen mit anderen Objekten und/oder eine Warneinrichtung, und eine Steuereinheit zur Ermittlung des Ab- stands des Fahrzeugs zu Objekten in der Umgebung des Fahrzeugs aus den Signalen der Sensorik und zur Generierung von Signalen für ein automatisches Bremsen und/oder Lenken und/oder Warnen zur Vermeidung von Kollisionen, wobei eine Positionserfassungseinrichtung zur Erfassung der Position des Fahrzeugs, eine Speichereinrichtung zum Speichern der von der Sensorik erfassten Umgebungsdaten und Mittel zur Abstandsbestimmung zu gespeicherten Objekten vorgesehen sind. Mit einem solchen System sind Kollisionen nicht nur beim Einparken vermeidbar sondern sind Kollisionen insbesondere im sich langsam bewegenden Verkehr, insbesondere im Stau beziehungsweise bei zähfließendem Verkehr vermeidbar. Die Mittel zur Abstandsbestimmung zu gespeicherten Objekten können in der Steuereinheit angeordnet sein.As a haptic warning, it is conceivable that the driver is made aware of a possible collision by vibration of the steering wheel and / or the pedals. Alternatively or additionally, it can be provided that the driving seat is set in motion. In addition, the driver can be made aware of a dangerous situation by briefly abruptly braking the vehicle. The object is also achieved by a system for preventing damage to a vehicle, comprising a sensor system for detecting the surroundings of the vehicle, actuating means for automatic braking and / or steering to avoid collisions with other objects and / or a warning device, and a control unit for Determination of the distance of the vehicle to objects in the vicinity of the vehicle from the signals from the sensors and for the generation of signals for automatic braking and / or steering and / or warning to avoid collisions, a position detection device for detecting the position of the vehicle , a storage device for storing the environmental data recorded by the sensor system and means for determining the distance from stored objects are provided. With such a system, collisions are not only avoidable when parking, but collisions can be avoided especially in slow-moving traffic, in particular in traffic jams or in slow-moving traffic. The means for determining the distance to stored objects can be arranged in the control unit.
Bei einer bevorzugten Ausführungsform der Erfindung kann eine Bewegungserfassungseinrichtung vorgesehen sein. Mit einer solchen Bewegungserfassungseinrichtung kann sowohl die Bewegung des Fahrzeugs als auch der anderen Objekte erfasst werden. Aus den erfassten Bewegungen kann wiederum eine Relativbewegung des Fahrzeugs zu den anderen Objekten ermittelt werden.In a preferred embodiment of the invention, a movement detection device can be provided. With such a movement detection device, both the movement of the vehicle and the other objects can be detected. A relative movement of the vehicle to the other objects can in turn be determined from the detected movements.
Vorteilhafterweise umfasst die Sensorik Abstandssensoren. Durch wiederholte Abstandsmessung zwischen dem Fahrzeug und einem Objekt kann unter Berücksichtigung der Position bzw. Positionsveränderung des Fahrzeugs festgestellt werden, ob sich das andere Objekt bewegt oder still steht, die relative Bewegung des Fahrzeugs zu dem Objekt ermittelt werden und eine Vorhersage für eine Bewegungsrichtung des Objekts in der Zukunft getroffen werden.The sensor system advantageously includes distance sensors. By repetitive distance measurement between the vehicle and an object, taking into account the position or change in position of the vehicle, it can be determined whether the other object is moving or stationary, the relative Movement of the vehicle to the object can be determined and a prediction can be made for a direction of movement of the object in the future.
Wenn Mittel zur Erkennung und Klassifizierung der Objekte vorgesehen sind, kann dem Fahrer ein realistisches Bild von der Umgebung des Fahrzeugs angezeigt werden.If means for recognizing and classifying the objects are provided, the driver can be shown a realistic image of the surroundings of the vehicle.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispiels der Erfindung, anhand der Figuren der Zeichnung, die erfindungswesentliche Einzelheiten zeigen, und aus den Ansprüchen. Die einzelnen Merkmale können je einzeln für sich oder zu mehreren in beliebiger Kombination bei einer Variante der Erfindung verwirklicht sein.Further features and advantages of the invention result from the following description of an embodiment of the invention, with reference to the figures of the drawing, which show details essential to the invention, and from the claims. The individual features can each be implemented individually or in groups in any combination in a variant of the invention.
Ausführungsbeispiele der Erfindung werden anhand einer Zeichnung näher erläutert. Dabei zeigen:Embodiments of the invention are explained in more detail with reference to a drawing. Show:
Fig. 1 eine schematische Darstellung zur Verdeutlichung des erfindungsgemäßen Verfahrens und des erfindungsgemäßen Systems ; undFigure 1 is a schematic representation to illustrate the inventive method and the inventive system. and
Fig. 2 eine schematische Blockdarstellung eines Systems zur Kollisionsvermeidung.Fig. 2 is a schematic block diagram of a system for collision avoidance.
In der Fig. 1 ist eine Draufsicht auf eine Fahrbahn 1 gezeigt, die durch eine Fahrbahnbegrenzung 2 begrenzt ist. Entlang der Fahrbahnbegrenzung 2 sind Fahrzeuge 3, 4 geparkt. Sie befinden sich daher im Stillstand. Ein Fahrzeug 5, bei dem das erfindungsgemäße System zur Vermeidung von Kollisionen realisiert ist, fährt parallel zu den Fahrzeugen 3 , 4 in Pfeilrichtung 6. Unmittelbar vor dem Fahrzeug 5 fährt auf derselben Fahrspur ein Fahrzeug 7 und unmittelbar hinter dem Fahrzeug 5 fährt das Fahrzeug 8. Auf einer Nebenspur fahren mit einer höheren Geschwindigkeit als das Fahrzeug 5 die Fahrzeuge 9, 10 in dieselbe Richtung. An dem Fahrzeug 5 sind Abstandssensoren 11 - 16 vorgesehen, die die Umgebung im Nahbereich des Fahrzeugs 5 erfassen. Im in der Fig. 1 dargestellten Momentanzustand werden in Richtung der Pfeile 6, 17 - 20 die Fahrzeuge 3, 4, 7, 9, 10 erfasst und der momentane Abstand zu den Fahrzeugen 3, 4, 7, 9, 10 ermittelt.1 shows a plan view of a roadway 1, which is delimited by a roadway boundary 2. Vehicles 3, 4 are parked along the lane boundary 2. You are therefore at a standstill. A vehicle 5 in which the collision avoidance system according to the invention is implemented runs parallel to vehicles 3, 4 in the direction of arrow 6. Immediately in front of vehicle 5, a vehicle 7 is traveling in the same lane and immediately behind it Vehicle 5 drives vehicle 8. On a secondary lane, vehicles 9, 10 drive in the same direction at a higher speed than vehicle 5. Distance sensors 11-16 are provided on vehicle 5, which detect the surroundings in the vicinity of vehicle 5. In the current state shown in FIG. 1, the vehicles 3, 4, 7, 9, 10 are detected in the direction of the arrows 6, 17-20 and the current distance to the vehicles 3, 4, 7, 9, 10 is determined.
Unter Berücksichtigung der Position und Geschwindigkeit des Fahrzeugs 5 und der gespeicherten Abstandsdaten vorheriger Messungen können die absoluten und relativen Geschwindigkeiten der Fahrzeuge 3, 4, 7, 9, 10 ermittelt werden. Mit den momentan ermittelten und gespeicherten Daten kann für den Bereich 21 ein Modell der Umgebung des Fahrzeugs 5 ermittelt werden. Insbesondere kann eine Art Karte erzeugt werden, die dem Fahrer des Fahrzeugs 5 auch visualisiert werden kann. Das Fahrzeug 8 wird von den Abstandssensoren 13, 14 nicht mehr erfasst. Da es vor einer Beschleunigung des Fahrzeugs 5 jedoch erfasst wurde, steht dem System diese Information noch zur Verfügung, so dass im Bereich 21 auch Objekte wie das Fahrzeug 8 enthalten sind, die bei der Kollisionsüberwachung berücksichtigt werden können, obwohl sie momentan nicht er- fasst werden.Taking into account the position and speed of vehicle 5 and the stored distance data from previous measurements, the absolute and relative speeds of vehicles 3, 4, 7, 9, 10 can be determined. A model of the surroundings of the vehicle 5 can be determined for the area 21 with the currently determined and stored data. In particular, a type of map can be generated that can also be visualized for the driver of vehicle 5. The vehicle 8 is no longer detected by the distance sensors 13, 14. However, since it was recorded before the vehicle 5 accelerated, this information is still available to the system, so that the area 21 also contains objects such as the vehicle 8 that can be taken into account in collision monitoring, although it is not currently detected become.
Bei weiterem Fahren des Fahrzeugs 5 in Pfeilrichtung 6 kann der Fahrer des Fahrzeugs 5 beabsichtigen, auf die Spur vor dem Fahrzeug 4 einzulenken. Es ist denkbar, dass im Moment des beabsichtigten Spurwechsels das Fahrzeug 4 durch die Abstandssensoren 11, 12, 13 gerade nicht erfasst wird, ein Spurwechsel jedoch zu einer Kollision mit dem Fahrzeug 4 führen würde. Da die Position des Fahrzeugs 4 in der Vergangenheit erfasst und gespeichert wurde, ermittelt das System aus diesen Daten und der seitherigen Bewegung des Fahrzeugs 5 bzw. momentanen Position, dass eine Kollision zu befürchten ist und warnt den Fahrer oder nimmt automatisch einen Brems- und/oder Lenkeingriff vor, um die Kollision zu verhindern.If the vehicle 5 continues to travel in the direction of the arrow 6, the driver of the vehicle 5 may intend to steer onto the lane in front of the vehicle 4. It is conceivable that at the moment of the intended lane change, the vehicle 4 is not being detected by the distance sensors 11, 12, 13, but a lane change would lead to a collision with the vehicle 4. Since the position of the vehicle 4 was recorded and stored in the past, the system determines from this data and the movement of the vehicle 5 since then or current position that a collision is to be feared and warns the driver or automatically performs a braking and / or steering intervention in order to prevent the collision.
Außerdem kann das System in dem Fall, dass das Fahrzeug 10 aus dem Erfassungsbereich des Sensors 16 gelangt, den Abstand zu dem Fahrzeug 5 so bestimmen, dass es bei einem Einscheren des Fahrzeugs 10 nicht zu einer Kollision kommt. Durch das System kann daher eine vorausschauende Fahrweise simuliert werde .In addition, if the vehicle 10 comes out of the detection range of the sensor 16, the system can determine the distance to the vehicle 5 in such a way that there is no collision when the vehicle 10 cuts in. A predictive driving style can therefore be simulated by the system.
Die Fig. 2 zeigt ein System 30 zur Kollisionsvermeidung. Als zentrales Element umfasst das System 30 eine Steuereinheit 31, die mit einer Sensorik 32 in Verbindung steht. Die Sensorik 32 umfasst im Ausführungsbeispiel mehrere Abstandssenso- ren 33 und Kameras 34. Die Daten der Sensorik 32 werden der Steuereinheit 31 zugeführt, wo die Daten verarbeitet, ausgewertet und gespeichert werden. In der Steuereinheit 31 sind Mittel zur Erkennung und Klassifizierung von Objekten vorgesehen. Die Mittel sind insbesondere eine Bildverarbeitungseinheit, die aus den Kamerabildern die Objekte ermittelt und diese einordnet, beispielsweise in bewegte oder unbewegte Objekte, Häuser, Fahrzeuge oder Fußgänger.2 shows a system 30 for collision avoidance. As a central element, the system 30 comprises a control unit 31, which is connected to a sensor system 32. In the exemplary embodiment, the sensor system 32 comprises a plurality of distance sensors 33 and cameras 34. The data from the sensor system 32 are fed to the control unit 31, where the data are processed, evaluated and stored. Means for recognizing and classifying objects are provided in the control unit 31. The means are in particular an image processing unit which determines the objects from the camera images and classifies them, for example into moving or stationary objects, houses, vehicles or pedestrians.
Der Steuereinheit 31 ist ein Speicher 35 zugeordnet, in dem die von der Sensorik 32 ermittelten Umgebungsdaten abgelegt werden. Die Steuereinheit 31 erhält außerdem Daten von einer Positionserfassungseinrichtung 36 und einer beispielsweise als Raddrehzahlsensor ausgebildeten Bewegungserfassungseinrichtung 37. Aus diesen Daten kann eine bevorstehende Kollision mit einem anderen Objekt ermittelt werden. Wird eine bevorstehende Kollision erkannt, steuert die Steuereinheit 31 als Motoren ausgebildete Betätigungsmittel 38, 39 an, um die Lenkung und/oder Bremse des Fahrzeugs so zu beeinflussen, dass eine Kollision vermieden wird. Mit den erfassten und gespeicherten Daten kann auch ein Bild der Umgebung, insbesondere eine Karte des Umfeldes des Fahrzeugs erzeugt werden, die dem Fahrer über eine Anzeigeeinheit 40 angezeigt werden kann.The control unit 31 is assigned a memory 35 in which the environmental data determined by the sensor system 32 are stored. The control unit 31 also receives data from a position detection device 36 and a movement detection device 37, for example, a wheel speed sensor. An impending collision with another object can be determined from this data. If an impending collision is detected, the control unit 31 controls actuating means 38, 39 designed as motors in order to influence the steering and / or brake of the vehicle in such a way that that a collision is avoided. The recorded and stored data can also be used to generate an image of the surroundings, in particular a map of the surroundings of the vehicle, which can be displayed to the driver via a display unit 40.
Die Erfindung betrifft ein Verfahren zu Kollisionsvermeidung eines Fahrzeugs (5) mit anderen Objekten, bei dem die Umgebung des Fahrzeugs (5) ständig erfasst wird, der Abstand zu anderen Objekten ermittelt und gespeichert wird und aus der erfassten Position des Fahrzeugs und den aktuellen und gespeicherten Umgebungsdaten eine bevorstehende Kollision ermittelt und durch entsprechende Eingriffe in die Bremse und/oder Lenkung verhindert wird. The invention relates to a method for collision avoidance of a vehicle (5) with other objects, in which the surroundings of the vehicle (5) are continuously detected, the distance to other objects is determined and stored, and from the detected position of the vehicle and the current and stored ones An upcoming collision is determined by environmental data and is prevented by appropriate interventions in the brake and / or steering.

Claims

Patentansprüche claims
1. Verfahren zum Verhindern von Schäden an einem Fahrzeug (5) aufgrund einer Kollision mit den Verfahrensschritten: a) Erfassen der Umgebung des Fahrzeugs (5) ; b) Bestimmung ΎOΪI momentanen Abständen zu anderen Objekten (Fahrzeuge 3, 4, 7 - 10); c) Vermeiden einer Kollision durch automatisches geeignetes Abbremsen und/oder automatische geeignete Eingriffe in die Lenkung oder Warnen des Fahrers d a d u r c h g e k e n n z e i c h n e t , dass d) Information über die erfasste Umgebung gespeichert wird, die Position des Fahrzeugs (5) erfasst wird und der Abstand zu in der Vergangenheit erfassten Objekten ermittelt wird.1. A method for preventing damage to a vehicle (5) due to a collision with the method steps: a) detecting the surroundings of the vehicle (5); b) determining ΎOΪI instantaneous distances to other objects (vehicles 3, 4, 7 - 10); c) Avoiding a collision by automatically suitable braking and / or automatically suitable interventions in the steering or warning of the driver, characterized in that d) information about the detected environment is stored, the position of the vehicle (5) is recorded and the distance to the driver Objects recorded in the past is determined.
2. Verfahren nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Bewegung des Fahrzeugs (5) und/oder der anderen Objekte (Fahrzeuge 3, 4, 7 - 10) erfasst wird.2. The method according to claim 1, which also means that the movement of the vehicle (5) and / or the other objects (vehicles 3, 4, 7-10) is detected.
3. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass eine Darstellung der Umgebung des Fahrzeugs erstellt wird, in der Informationen über die Position und das Bewegungsverhalten des Fahrzeugs und der anderen Objekte abgelegt sind.3. The method according to any one of the preceding claims, characterized in that a representation of the surroundings of the vehicle is created in which information about the position and the movement behavior of the vehicle and the other objects are stored.
Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die gespeicherte Umgebung und/oder die Darstellung aktualisiert und verwaltet wird.Method according to one of the preceding claims, that the stored environment and / or the representation is updated and managed.
Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die minimalen Abstände, bei denen durch Abbremsen und/oder Ausweichen eine Kollision vermieden werden kann, ermittelt werden.Method according to one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the minimum distances at which a collision can be avoided by braking and / or avoiding, are determined.
6. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die Warnung visuell und/oder akustisch und/oder hap- tisch erfolgt.6. The method according to any one of the preceding claims, that the warning is given visually and / or acoustically and / or haptically.
7. Verfahren nach Anspruch 6, d a d u r c h g e k e n n z e i c h n e t , dass die Warnung durch eine Vibration des Lenkrads und/oder der Pedale und/oder durch eine Bewegung des Fahrersitzes erfolgt.7. The method of claim 6, d a d u r c h g e k e n e z e i c h n e t that the warning is given by a vibration of the steering wheel and / or the pedals and / or by movement of the driver's seat.
8. System (30) zur Verhinderung von Beschädigungen eines Fahrzeugs (5) umfassend eine Sensorik (32) zur Erfassung der Umgebung des Fahrzeugs (5), Betätigungsmittel (38, 39) zum automatischen Bremsen und/oder Lenken zur Vermeidung von Kollisionen mit anderen Objekten (Fahrzeuge 3, 4, 7 - 10) und/oder eine Warneinrichtung und eine Steuereinheit (31) zur Generierung von Signalen für ein automatisches Bremsen und/oder Lenken und/oder Warnen zur Ver- meidung von Kollisionen, d a d u r c h g e k e n n z e i c h n e t , dass eine Positionserfassungseinrichtung (36) zur Erfassung der Position des Fahrzeugs (5) , eine Speichereinrichtung (35) zum Speichern der von der Sensorik (32) erfassten Umgebungsdaten und Mittel zur AbstandsbeStimmung zu gespeicherten Objekten vorgesehen sind.8. System (30) for preventing damage to a vehicle (5) comprising a sensor system (32) for detecting the surroundings of the vehicle (5), actuating means (38, 39) for automatic braking and / or steering to avoid collisions with others Objects (vehicles 3, 4, 7-10) and / or a warning device and a control unit (31) for generating signals for automatic braking and / or steering and / or warning for Avoidance of collisions, characterized in that a position detection device (36) for detecting the position of the vehicle (5), a storage device (35) for storing the environmental data recorded by the sensor system (32) and means for determining the distance to stored objects are provided.
9. System nach Anspruch 8, d a d u r c h g e k e n n z e i c h n e t , dass eine Bewegungserfassungseinrichtung (37) vorgesehen ist .9. The system according to claim 8, that a motion detection device (37) is provided.
10. System nach Anspruch 8 oder 9, d a d u r c h g e k e n n z e i c h n e t , dass die Sensorik (32) Abstandssensoren (33) umfasst.10. The system according to claim 8 or 9, d a d u r c h g e k e n e z e i c h n e t that the sensor system (32) comprises distance sensors (33).
11. System nach einem der Ansprüche 8 bis 10, d a d u r c h g e k e n n z e i c h n e t , dass Mittel zur Erkennung und Klassifizierung der Objekte vorgesehen sind. 11. System according to one of claims 8 to 10, d a d u r c h g e k e n n z e i c h n e t that means for detecting and classifying the objects are provided.
PCT/EP2004/008571 2003-08-12 2004-07-30 Method for the prevention of collisions of a vehicle WO2005014370A1 (en)

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