WO2007131801A1

WO2007131801A1 - Method and device for avoiding vehicle collisions

Info

Publication number: WO2007131801A1
Application number: PCT/EP2007/004415
Authority: WO
Inventors: Istvan ERDÖS
Original assignee: Continental Teves Hungary Kft.
Priority date: 2006-05-17
Filing date: 2007-05-16
Publication date: 2007-11-22
Also published as: WO2007131801A8; EP2147422A1; JP2009537367A

Abstract

The method and device for carrying out said method transmit information between different vehicles by means of a communication system. All determined and accurate positional and dynamic information is transmitted to a local electronic map, representing the current traffic situation. Using the information on vehicle dynamics the intentions of the driver concerned and the drivers of adjacent vehicles and the resultant trajectories are predicted. Dangerous situations are recognised when two or more trajectories coincide in the same time window.

Description

Method and device for avoiding collisions of vehicles

The present invention relates to a method and a device for collision avoidance, in particular for motor vehicles.

In critical traffic situations such. B. impending collisions with other vehicles, a driver often can not respond quickly enough or not appropriate to the situation. For this reason, a method and a device is required by means of which the vehicle can signal, prepare and / or independently carry out the necessary steps such as avoidance or braking for the driver. From EP 0 473 866 A2 a collision avoidance system is known in which a sensor detects a plurality of potential collision objects and with the aid of the acquired data a possible collision is predicted. To avoid the collision, it is proposed that braking means and / or steering means are activated by a vehicle control unit in order to avoid a collision. It is not stated how a control unit decides whether the steering means, the braking means or both must be used to avoid the collision.

From US Pat. No. 6,049,295 A1, a method is known which is intended to prevent collisions between vehicles driving on an intersection without traffic signs or a road section which is difficult to see. This method requires a road-solid device and vehicle-mounted devices that communicate with each other by radio.

DE 198 30 547 A1 further discloses an intersection warning system which likewise depends on roadside and vehicle-side devices.

The known methods and devices for collision avoidance use in the interpretation of a present driving situation individual driving situation typical information to perform a subsequent assessment. The disadvantage here is that other information to improve the driving situation assessment can not be flexibly and easily evaluated.

The invention has for its object to provide a method and apparatus for preventing collision, with electronically controlled vehicle safety and Driver assistance systems, as well as positioning and communication systems interacts and thus allows the driver of the vehicle to avoid a collision on public roads, in a simple and robust way between different control means to collision avoidance under real-time conditions with or without the driver and regardless of the Type of necessary driving maneuvers is selected.

This object is achieved by a method with the features of claim 1 or advantageous developments of this method will become apparent from the dependent claims 2 to 11. A device according to the invention for carrying out this method has the features specified in claim 12 and can be characterized by features of the subclaim 13 continue to make advantageous.

According to the invention, it is proposed that control means be present for influencing a vehicle movement, and that information about potential collision objects, for example, be detected by sensor means. The applicability of the collision avoidance control means is judged from this information, and then an application of the control means is decided. The control means may comprise means for automatic braking and / or means for automatic steering.

By integrating different systems, all the functional advantages of the individual subsystems are retained and, in addition, their overall performance is increased. While the individual subsystems can reduce accidents by minimizing the risk of certain hazards that apply only to one's own vehicle, complex situations involving a large number of vehicles. Furthermore, risks associated with a vehicle collision are reduced because it is not focused on specific cases, such as avoiding rear-end collisions.

Another preferred embodiment is formed by subsequent expansion. There is a 360-degree monitoring without limiting the view of the vehicle environment by the driver assistance systems. Thereupon, a synchronization of the position and dynamic information between the own vehicle and the neighboring vehicles is performed. This allows the use in difficult traffic situations, which are caused by complex roadway facilities, such. Junction of multiple roads, multi-lane roads in two directions, roundabout, etc. It is provided here, as in the previous embodiments, that the operation of the individual vehicle safety systems is constantly ensured, available and can be used.

Another preferred embodiment includes an extension for interpreting traffic signs. By means of these, the vehicles equipped with the device according to the invention can be controlled so as to observe the general traffic rules, such as, e.g. Top speeds, right of way and any other intention of the driver disregarded.

Another preferred embodiment allows special vehicles to give priority in certain traffic situations in order to assist them in fulfilling their particularly important task. For example, a corresponding safely drive over equipped intercrossing vehicles by instructing the intersecting traffic to stop.

The invention will be explained in more detail below with reference to an exemplary game with reference to the accompanying drawings.

Show it:

Fig. 1 is a block diagram with the device according to the invention in the interaction of different vehicle systems

2 shows an example of a data model

Fig. 3 is a flowchart for carrying out the receiving operation and the interplay with a database

In the vehicle 1 there are at least one communication, a position determination, vehicle safety, driver assistance system 11/12/13/14.

Fig. 1 represents a configuration of the device according to the invention in a vehicle 1. For example, other functional components may be used for e.g. the chassis control units, such as the active suspension or height adjustment systems, are addressed by the method according to the invention or the device according to the invention.

As the communication system 11, standardized non-optical radio-based information transmission systems are used for communication between more than two vehicles. The communication system 110 supports different mobile Transmission methods that perform an information distribution in the so-called broadcast mode. A broadcast or broadcast in a computer-based network is a message in which data packets are transmitted from one point to all subscribers of a network.

Positioning systems 12 serve to determine the own position. Positioning systems are GPS transmitters and receivers as well as navigation systems. According to the invention, integrated position determination systems that combine both functionalities in one device can also be used.

As vehicle safety systems 13, all braking systems available in the vehicle can be used with electronic control. Vehicle safety systems may include electronic break system (EBS) 131, engine management system (EMS) 132, anti-lock braking system (ABS) 133, traction control (ASR), electronic stability program (ESP), electronic differential lock (ESC). EDS), transmission control unit (TCU), electronic brake force distribution (EBV) and / or engine drag torque control (MSR).

Driver assistance systems 14 are electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground. These systems partially or autonomously intervene in propulsion, control (e.g., gas, brake) or signaling devices of the vehicle, or warn by appropriate means

Human-machine interfaces the driver just before or during critical situations. Such driver assistance systems are, for example, parking aid (sensor arrays obstacle and Distance Detection), Brake Assist (BAS), Cruise Control, Adaptive Cruise Control (ACC) 141, Distance Alert, Turn Assistant, Traffic Jam Assistant, Lane Detection System, Lane Departure Warning (Lane Depart- ure Warning (LDW)) 142, Lane Keeping Support )), Lane change assistant, lane change support, Intelligent Speed Adaptation (ISA), adaptive cornering light, tire pressure monitoring system, driver condition detection,

Traffic Sign Recognition, Platooning, Automatic Emergency Braking (ANB), Headlights Dazzling and Dazzling Assist, Night Vision.

The sequence of the method according to the invention consists of the following phases:

1. Receiving and updating the information from the neighboring vehicles 2. Updating and transmitting the data of the own vehicle

3. Exact map update

4. Prediction of the trajectory for the own vehicle and the neighboring vehicles 5. Decision about the control assumption and the corrective measures and / or warning of the driver

1. Receiving and updating the information from the neighboring vehicles

Receiving and updating the information from the neighboring vehicles takes place in the way that the neighboring ones Vehicles continuously transmit their position and dynamic information packets (PDP) 2 via the communication system located in the respective vehicle and responsible for the exchange of information between at least two vehicles.

The position and dynamic information packages 2 representing and distributing the respective vehicle contain information, e.g. the vehicle identifier 21, the GPS data with accurate lane keeping information 22, the individual vehicle parameters 23, e.g. the vehicle geometry with length 231, width 232, turning circle, the vehicle type (car / off-road vehicle / small truck / truck / etc.) 233, the previously known information of the vehicle dynamics 24 with max. Longitudinal acceleration and deceleration 241, max. Transverse acceleration 242, max. Vehicle speed 23, the current vehicle speed 245, the longitudinal acceleration, the lateral acceleration, the current yaw rate, the current steering angle.

Furthermore, the position and dynamics information packages 2 contain information about the vehicle safety systems 25 currently active in the respective vehicle and driver assistance systems 25, as well as information about the roadway parameters 26, such as, for example, Slope angle and estimated friction. Further fields are provided in the position and dynamic information packages 2 for optional information 27.

The position and dynamic information of all neighboring vehicles, with which the own vehicle communicates, are stored in a dynamically updated, internal memory, which can be configured as a database. If the sending vehicle already has an active position and dynamic information package in the database, ie it is already "recognized" by the receiving own vehicle, the data is updated with the latest position and dynamic information packages.

When the vehicle is just entering the communication area, it is entered into the database with the original position and dynamics information packets. The position and dynamic information packages 2 of a vehicle leaving the zone and no longer sending data after an active period of time are removed from the database.

2. Updating and transmitting the data of your own vehicle

The updating and transmission of one's own position and dynamic data of the own vehicle takes place in such a way that the same data as described are recorded and calculated in the own vehicle and the entire position and dynamic data packet is transmitted by the own communication system to the neighboring vehicles.

A particular subset of the measured data provided by the functional components listed is input directly into the position and dynamics data packet to be transmitted, such as the yaw rate from the EBS. The remaining data are derived, such as the maximum torque, the gear ratio and the vehicle weight, which together define the acceleration capacity of the vehicle. The method or the device thus calculates all data to be derived from the existing information sources and transmits the entire data packet. The position and the dynamics The micro data of the own vehicle are processed by the neighboring vehicles in the same way.

The exact data of the vehicle position are of particular importance in the identification of dangerous situations. The exact position data of each vehicle is calculated in the following manner.

3. Exact map update

The position data of the first positioning system, which may be implemented as a GPS transceiver, is used as basic information. This data is transmitted to the map of the second positioning system, such as a navigation system. Finally, the information from the driver assistance systems is supplemented by the data of the navigation system, resulting in a precise map indicating the position of each vehicle located on the various lanes of the road. This high resolution position data is required for the identification of dangerous dynamic maneuvers at high speed.

4. Prediction of the trajectory for the own vehicle and the neighboring vehicles

An important factor in the prediction of collisions is the estimation of the trajectories for the own vehicle and the neighboring vehicles. This is based on the data of the second positioning system, the determined exact map, the position and dynamic information package about the vehicle dynamics and the detected potentially dangerous driving situation. The dangerous driving situations such as Overtaking, changing lanes, crossing, etc. are determined by information stored in the database and dynamic hazards, such as a loss of vehicle stability due to skidding, which is detected by the individual driving safety systems.

During this phase, the method according to the invention first of all reduces the number of observed vehicles by excluding relevant vehicles from relevant ones. All vehicles that are not considered relevant have no influence on the traffic situation in which the own vehicle is involved due to its physical distance, direction of travel or speed.

6. decision on the control acquisition and the corrective measures and / or warning the driver

In addition, it is checked whether a possible rail overlap means a potential collision and it takes place in the process sequence according to the invention, the decision whether the driver is only warned and / or whether other measures are taken

If enough response time is available, the system simply warns the driver and informs him of the most effective corrective action, via easy-to-interpret on-dash signs or via an electrical or electronic playback device. In general, the driver is left with vehicle control as long as it is possible and a collision is avoided.

When the situation becomes a dangerous situation and thus a collision situation, ie the smallest further reactionless time delay can lead to a collision, over- the method according to the invention takes the control of the vehicle safety and vehicle assistance systems to initiate the direct intervention in the control of the own vehicle and to correct the trajectory of the own vehicle such as by braking and / or accelerating and / or steering.

The controls of the driver assistance and vehicle safety systems and the control means controlled by them directly carry out the required corrective measures or restore vehicle stability. By causing the corrective action to be taken by the vehicle assistance systems, it is ensured that no passive obstacles occur during the intervention or that vehicles appear unexpected.

The method according to the invention always specifies a higher priority of the vehicle safety systems having a passive obstacle detection during the intervention. In the meantime, the data field (flag) 'Collision avoidance active' is set in the position and dynamic data packet of the own vehicle in order to inform the road users in the neighboring vehicles about their own corrective measures in a possible dangerous situation.

As a result, the other vehicles which are equipped with the device according to the invention are enabled to take no further corrective action which can lead to further dangerous situations, so that the decision about, for example, the action or the assumption of control synchronizing the corrective actions of the various vehicles involved / affected. When the dangerous situation is eliminated, the device according to the invention immediately transfers the control back to the driver, so that the vehicle remains stable.

Steps 1-5 are carried out in each control loop of the device according to the invention. This high-resolution control loop enables the corrective action to be performed correctly at high speed.

The intervention in the vehicle control requires a high degree of reliability for the entire device. This is ensured via the fail-safe concept of the installed vehicle safety systems, such as EBS, ESAS, and driver assistance system ACC, etc. and the concept of the decision to take over the control of the collision warning system.

The method according to the invention and the device according to the invention increase traffic safety, since it recognizes complex traffic situations in which numerous vehicles are involved, and not only solves individual dangerous situations during driving, such as driving. the loss of stability while driving.

A network of vehicles having the device according to the invention represents a distributed traffic control. Thus, it forms a cost-effective alternative to the so-called intelligent traffic control systems, since no complex and expensive structures on the road and highway are required.

In further advantageous embodiments of the method according to the invention and of the device according to the invention, it is also possible to use a different system architecture than above described and illustrated. The reason for this is the fact that the control functions of the built-in vehicle dynamics, driver assistance and driver information systems can be summarized and organized in a different way, such as by merging or separating the functions within the built-in electronic control units. The overall functioning remains the same.

Claims

claims

1. A method for avoiding vehicle collisions, wherein

Control means, which are addressed via vehicle safety systems and / or driver assistance systems, are present for influencing the vehicle trajectory, information about possible collision objects being detected and transmitted by driver assistance systems,

characterized in that

Information from the neighboring vehicles are received, the relevant data of the own vehicle permanently determined by the control means, updated and sent to the neighboring vehicles, wherein the own position and the position of the adjacent vehicles are continuously determined and detected, and from the received information, the data obtained, the current own position and the positions of the adjacent vehicles and data that are stored in a memory and represent dangerous situations, a prediction of the vehicle trajectory of the own vehicle and the adjacent vehicles, as well as the situation detection of the vehicle environment takes place, in the event of a risk of collision, a signaling to the driver, the adjacent vehicles or an independent intervention by the control device for influencing the vehicle movement is carried out.

2. The method according to claim 1

characterized in that

upon detection of the dangerous situation, the signaling to the driver via easily readable display (16) takes place in the dashboard.

3. The method according to claim 2

characterized in that

the signaling takes place by means of an electrical or electronic reproduction device.

4. The method according to any one of the preceding claims

characterized in that

the data obtained are stored in a position and dynamic data packet (2), wherein as elements of the position and dynamic data packet at least the vehicle identification (21), the GPS data with accurate

Information about the lane keeping (22), the individual vehicle parameters (23) with length, width (232), turning circle (233), the vehicle type, the previously known information of the vehicle dynamics (24), the current vehicle speed (241), the Longitudinal acceleration (242), the lateral acceleration (243), the current yaw rate (244) and the current steering angle (245) include.

5. The method according to any one of the preceding claims

characterized in that

shortly before influencing the vehicle movement to avoid a collision, the signaling to the neighboring vehicles takes place by activating a data field and this activation is communicated to all neighboring vehicles under real-time requirements.

6. The method according to any one of the preceding claims

characterized in that

when affecting vehicle motion, vehicle stability is maintained by utilizing the built-in vehicle safety systems.

7. Method according to one of the preceding claims,

characterized in that

the influence of the vehicle movement by the driver assistance systems, which interact with an obstacle detection technology, is initiated.

8. Method according to one of the preceding claims,

characterized in that:

after a takeover of the vehicle control system, the latter is safely returned to the driver, the stability of the vehicle being ensured during the transfer by the vehicle safety systems.

9. Method according to one of the preceding claims,

characterized in that

the situation detection by a permanent 360 °

Monitoring the vehicle environment using the driver assistance systems takes place.

10. The method according to any one of the preceding claims,

characterized in that

in driving situations with special vehicles, they receive a priority for compliance with their carriageway.

11. The method according to any one of the preceding claims,

characterized in that

a design of traffic signs to comply with traffic rules takes place.

12. Apparatus for carrying out the method according to claim 1, comprising at least one memory, at least one computer unit (15) and at least one interface for the data exchange,

characterized in that

in that the information from the neighboring vehicles is forwarded via the communication system (11) and via the interface (17) to the computer unit (15), which determines data of the own vehicle by the vehicle safety and vehicle assistance systems (13/14) and stored in the memory via the interfaces (17) and to the adjacent ones

Vehicles are sent via the communication system (11), under real-time conditions, the own position, the environment and the position of the neighboring vehicles via the positioning system (12) determined and supplied to the computer via the interface (17), from the received information and the determined data is a prediction of the trajectory of the own vehicle, of the vehicle surroundings and of the adjacent vehicles, wherein in the event of a collision a signaling via the interface to an output unit (16) to the driver takes place or by intervention by means of the vehicle safety and / or vehicle comfort systems (13, 14) into the movement path of the own vehicle or signaling the intervention of the movement path of the own vehicle to the neighboring vehicles.

13. Device according to claim 12,

characterized in that

the device is designed as an electronically controlled system mounted in a vehicle, via the interface (17), a bidirectional data connection to the communication system (11), a unidirectional data connection to the position determination system (12), a unidirectional data connection the vehicle safety systems (13) and a bidirectional data connection to the driver assistance systems (14).