WO2006089624A1 - Commande de vehicule automatique dynamique tenant compte d'objets dans l'espace lateral de vehicules - Google Patents

Commande de vehicule automatique dynamique tenant compte d'objets dans l'espace lateral de vehicules Download PDF

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Publication number
WO2006089624A1
WO2006089624A1 PCT/EP2006/000897 EP2006000897W WO2006089624A1 WO 2006089624 A1 WO2006089624 A1 WO 2006089624A1 EP 2006000897 W EP2006000897 W EP 2006000897W WO 2006089624 A1 WO2006089624 A1 WO 2006089624A1
Authority
WO
WIPO (PCT)
Prior art keywords
road vehicle
road
vehicle
objects
dangerous situation
Prior art date
Application number
PCT/EP2006/000897
Other languages
German (de)
English (en)
Inventor
Ottmar Gehring
Frederic Holzmann
Sascha Paasche
Andreas Schwarzhaupt
Gernot Spiegelberg
Armin Sulzmann
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 WO2006089624A1 publication Critical patent/WO2006089624A1/fr

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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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

Definitions

  • the invention relates to a method for dynamic route planning in road vehicles, taking into account objects in the side space according to the preamble of patent claim 1.
  • the increased traffic volume causes the driver of a road vehicle in dangerous situations, insofar as he is even able to recognize them at all, can not respond properly and in terms of accident-avoiding driving behavior.
  • a method for warning the 'leader of a road vehicle in front of a driving on the instantaneous vehicle is known.
  • the traffic environment in front of the road vehicle is monitored by means of a radar device for the presence of a preceding vehicle train, and the distance of the own vehicle to a detected preceding vehicle as well as its relative speed is determined.
  • a safety distance between the two vehicles is calculated, which is then compared with the measured distance. If the measured distance is less than the safety distance, a warning signal is generated and the risk of a collision It is shown on an optical display panel.
  • the surroundings detection is also extended to the respective rear space of adjacent lanes, so that even in the run-up to a planned lane change the expected accident risk can be determined.
  • DE 101 08 646 A1 describes a hazard decision-making device for a road vehicle in which the traffic flow which changes on the basis of the course of the road is detected by means of sensors.
  • the road vehicle has mounted in the front lateral region sensors through which early on entering a road junction or intersection can be detected laterally approaching vehicles. From the sensor data, the risk of an impact on the road vehicle emanating from a detected vehicle is estimated in order to be able to react thereto.
  • German patent application DE 102 12 483 Al describes a safety device for motor vehicles, which is designed with a lateral area next to the vehicle monitoring sensor. This measures the relative speed of an object to be moved next to the vehicle. If this relative speed exceeds a certain level, then a dangerous situation is concluded.
  • the object of the invention is to improve the known from the prior art method for detecting dangerous traffic situations so that in time accident-avoidance can be reacted to it.
  • the object is achieved by a method for dynamic route planning in road vehicles, taking into account objects in the side space, with the features of claim 1.
  • Advantageous embodiments and further developments of the invention are described by the subclaims.
  • the road vehicle In the method for dynamic route planning in road vehicles, taking into account objects in its side space, data of the environment in front of and behind the road vehicle are detected by means of sensors. From the information obtained on the basis of the detected environment data, control parameters for controlling the driving behavior of the road vehicle are generated.
  • the road vehicle additionally determines environmental data from areas in the direct side space of the road vehicle by means of sensors. In the context of processing the sensor data thus obtained is then closed to a dangerous situation when objects are detected in this direct side space of the road vehicle, which were previously detected in the detected environment information not before or behind the road vehicle befindlich.
  • the road vehicle is controlled so that it evades in the direction of the opposite side of the road with respect to the detected object, if this is accident-avoiding possible.
  • it is possible in a particularly advantageous manner to avoid by dodging a collision with a sudden on the roadway pedestrians or unexpectedly at exits, junctions or intersections laterally approaching vehicles. Since this side of a road vehicle suddenly be in appearance passing objects often blind spot field of view of the driving ⁇ convincing leader in, it can this without technical assistants often not perceive remedies, let alone react quickly and avoid accidents to this dangerous situation.
  • Figure 1 shows the relevant for the generation of control parameters from the environmental data areas around the road vehicle
  • Figure 2 exemplary sensor arrangement for detecting the environment around the road vehicle.
  • the lateral environment of a road vehicle 1, which moves on a road in the direction of travel 2 can be divided into substantially 6 areas.
  • the areas 10 and 13 laterally left or right in front of the road vehicle, while the areas 12 and 15 are respectively laterally left and right behind the vehicle.
  • the areas 11 and 14 In the direct side space of the road vehicle, there are the areas 11 and 14.
  • Such area division is independent of the type of road (single lane or multi-lane) or the width of the lane traveled by the road vehicle.
  • the road vehicle In order to suddenly detect objects (persons or vehicles) occurring in the direct side space (11, 14) of the road vehicle and to be able to deduce a dangerous situation therefrom, the road vehicle is to be equipped with sensors such that the three areas are at least on one of its sides behind him, as well as directly to the side (10,11,12 or 13, 14, 15) can be monitored.
  • FIG. 2 shows such a minimal configuration of sensors whose detection areas 21, 22 and 23 have a lateral area (13, 14, 13). 15) of the road vehicle can detect.
  • the sensors in the exterior mirror 3 mounted on the right-hand side of the road vehicle 2 with respect to the direction of travel 2 are integrated here by way of example. In this way, when driving along a single-lane road, the area can profitably be monitored towards pedestrian paths or road junctions.
  • the road vehicle 1 is equipped on both sides with corresponding environment sensors.
  • the continuous monitoring of the three lateral portions (10,11,12 or 13,14,15) of the road vehicle 1 can be determined whether an object in the direct side space (11,14) suddenly occurred there, or whether it due to the dynamic driving behavior of the object or the road vehicle from other areas laterally moved in front of or behind the vehicle. This may be, for example, a vehicle on an adjacent lane, which is just being overhauled, or which itself overtakes the road vehicle 1. Also, when the road vehicle 1 approaches, an object on the road will move from a side 10 of the road vehicle 10 into a direct side area 11, 14.
  • the functionality of the method for dynamic route planning in road vehicles can be extended by also objects, which have moved from areas laterally in front of or behind the road vehicle in one of the areas in the direct side space 11, 14 of the road vehicle 1 one be subjected to close observation. This especially if these objects are continuously in this area 11,14 over a long period of time. This makes it possible to detect even dangerous situations, which result from the fact that these observed objects to move beyond a certain level on the vehicle.
  • These objects may be, for example, other motor vehicles or bicycles. Thus, especially on motorways accidents can be prevented, which result from the sudden collapse of vehicles from the neighboring to the own lane.

Landscapes

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

Abstract

En raison de l'accroissement du trafic routier, le conducteur d'un véhicule routier peut ne pas réagir à temps dans des situations dangereuses, si tant est qu'il est en mesure de les reconnaître, et peut ne pas réagir correctement eu égard au comportement de conduite évitant l'accident. Aussi l'invention propose-t-elle de concevoir une planification de parcours dynamique pour des véhicules routiers, dans laquelle des données sur l'espace devant et derrière le véhicule routier sont détectées au moyen de capteurs. Des paramètres de commande pour la commande du comportement de conduite du véhicule routier sont générés à partir de l'information déduite des données d'environnement détectées. Selon l'invention, le véhicule routier détermine également au moyen de capteurs des données d'environnement concernant des zones dans l'espace latéral direct du véhicule routier. Grâce au traitement des données de capteur ainsi acquises, une situation de danger peut être identifiée lorsque sont détectés, dans l'espace latéral direct du véhicule routier, des objets qui n'avaient pas été précédemment détectés comme se trouvant devant ou derrière le véhicule routier dans l'information d'environnement détectée. Si une situation de danger est identifiée, le véhicule routier est commandé de manière à se déporter vers le côté de la route opposé à l'objet détecté, si cela est possible en évitant l'accident. Il est ainsi possible de manière particulièrement avantageuse d'éviter en se déportant une collision avec un piéton descendant brusquement sur la chaussée ou avec des véhicules débouchant latéralement de manière inattendue au niveau de sorties, de jonctions ou de croisements de routes.
PCT/EP2006/000897 2005-02-22 2006-02-02 Commande de vehicule automatique dynamique tenant compte d'objets dans l'espace lateral de vehicules WO2006089624A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005008266A DE102005008266A1 (de) 2005-02-22 2005-02-22 Dynamische Routenplanung unter Beachtung von Objekten im Seitenraum von Fahrzeugen
DE102005008266.1 2005-02-22

Publications (1)

Publication Number Publication Date
WO2006089624A1 true WO2006089624A1 (fr) 2006-08-31

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/000897 WO2006089624A1 (fr) 2005-02-22 2006-02-02 Commande de vehicule automatique dynamique tenant compte d'objets dans l'espace lateral de vehicules

Country Status (2)

Country Link
DE (1) DE102005008266A1 (fr)
WO (1) WO2006089624A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9064408B2 (en) 2011-09-26 2015-06-23 Toyota Jidosha Kabushiki Kaisha Rear cross traffic alert device
US9123248B2 (en) 2011-09-12 2015-09-01 Toyota Jidosha Kabushiki Kaisha Alarm device

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012215014A1 (de) * 2012-08-23 2014-02-27 Robert Bosch Gmbh Verfahren zur Überwachung eines toten Winkels und Fahrassistenzsystem
DE102017223486A1 (de) * 2017-12-21 2019-06-27 Continental Teves Ag & Co. Ohg Verfahren und System zum Vermeiden von lateralen Kollisionen
CN117804490B (zh) * 2024-02-28 2024-05-17 四川交通职业技术学院 一种车辆运行路线的综合规划方法及装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5598164A (en) * 1992-08-10 1997-01-28 Reppas; George S. Vehicle obstacle avoidance system
US5940011A (en) * 1995-04-21 1999-08-17 Trw Inc. Compact vehicle based rear and side obstacle detection system including multiple antennae
DE20117788U1 (de) * 2001-10-31 2002-02-28 Koszlat Heinz Sicherheits-Abstand-Warn-System
DE10125426A1 (de) * 2001-05-25 2002-11-28 Bosch Gmbh Robert Warnsystem und Verfahren zur Überwachung eines toten Winkels für ein Fahrzeug

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19803068A1 (de) * 1998-01-28 1999-07-29 Daimler Benz Aerospace Ag Airbag-Sensorik
DE19845568A1 (de) * 1998-04-23 1999-10-28 Volkswagen Ag Vorrichtung zur Objekterfassung für Kraftfahrzeuge
DE10212483A1 (de) * 2002-03-21 2003-10-30 Opel Adam Ag Vorrichtung zur Erfassung der Umgebung eines Kraftfahrzeuges und Sicherheits-Einrichtung sowie Verwendung eines Magneto-Widerstands-Sensors am Kraftfahrzeug

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5598164A (en) * 1992-08-10 1997-01-28 Reppas; George S. Vehicle obstacle avoidance system
US5940011A (en) * 1995-04-21 1999-08-17 Trw Inc. Compact vehicle based rear and side obstacle detection system including multiple antennae
DE10125426A1 (de) * 2001-05-25 2002-11-28 Bosch Gmbh Robert Warnsystem und Verfahren zur Überwachung eines toten Winkels für ein Fahrzeug
DE20117788U1 (de) * 2001-10-31 2002-02-28 Koszlat Heinz Sicherheits-Abstand-Warn-System

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9123248B2 (en) 2011-09-12 2015-09-01 Toyota Jidosha Kabushiki Kaisha Alarm device
US9064408B2 (en) 2011-09-26 2015-06-23 Toyota Jidosha Kabushiki Kaisha Rear cross traffic alert device

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Publication number Publication date
DE102005008266A1 (de) 2006-08-24

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