WO2008128998A1

WO2008128998A1 - Method for avoiding vehicular collisions

Info

Publication number: WO2008128998A1
Application number: PCT/EP2008/054739
Authority: WO
Inventors: Adam Swoboda; Ulrich STÄHLIN
Original assignee: Continental Teves Ag & Co. Ohg
Priority date: 2007-04-18
Filing date: 2008-04-18
Publication date: 2008-10-30
Also published as: DE102008019781A1

Abstract

The invention relates to a method for avoiding collisions of vehicles, wherein steering means, which are activated via vehicle security systems and/or driver assistance systems, are provided in the vehicle, wherein by means of a first determination, a radius of a target vehicle movement path through which the car should travel is determined in real-time, and by means of a second determination, the radius of an actual vehicle movement path through which the car is traveling is determined in real-time. By means of an additional determination which utilizes a similarity measure, the difference between the radii of the target vehicle path and the actual vehicle path is determined, and if a threshold minimum or maximum value is exceeded, the position is determined at which this occurs, and this position is transmitted to additional vehicles located in the proximity by means of a transmitter device located in the vehicle.

Description

Method for avoiding vehicle collisions

The invention relates to a method for avoiding vehicle collisions, in particular for motor vehicles.

State of the art

From the Southwest Press, "Car of the future thinks with", 04.06.1996, a vehicle shows that has an autopilot. This determined by means of a vehicle-mounted video camera and image processing algorithms information about distances to objects on the lane and the track of the vehicle. Furthermore, traffic signs recorded by the video camera can also be recognized. It has proven to be disadvantageous that the image processing is often not reliable. In addition, high investments are required.

Modern motor vehicles are increasingly equipped with driver-supporting functions and services. The driver-supporting functions, such as ABS, ESP, ACC and automatic emergency call provide requested services with a predefined procedure. The services, on the other hand, provide a service on request, leaving open as a rule the is brought. For example, in the service offering navigation, it is completely unclear on which route the destination is reached when the service request is made to route the vehicle to a selected destination. So far, the functions and services mentioned are predominantly driver-related since they assist the driver of the individual vehicle in mastering the vehicle dynamics, in obtaining assistance and in finding the target. On the other hand, services that support the driver due to fleet concerns are virtually unknown. Few examples are ARI, RDS-TMC and TEGARON, which essentially provide traffic information. The necessary for the realization of the above functions and services technical facilities are usually designed only for the specific function or service and therefore not reusable.

From DE 39 41 402 Al a method for detecting and averting a risk of collision between a vehicle moving ahead in the vehicle and a moving vehicle is known in which each vehicle permanently at least one information about its state of motion with respect to instantaneous speed and / or instantaneous acceleration having signal in emits the reverse half-space opposite to the respective direction of travel, in which the signal received by each vehicle as it enters the transmission range of the vehicle is subjected to a comparison with the signal evaluated in terms of the presence of a collision risk, and in which the signal and / or a comparison signal indicating a risk of collision as a result of the assessed comparison, a signaling device informing the vehicle driver and / or other subsequent road users and / or a state of movement of the vehicle in the vehicle Impact of a collision avoidance changing vehicle device acted upon.

From DE 298 03 684 Ul a safety system for motor vehicles in road traffic is further known, with at least one vehicle transmitter in a first vehicle with a transmitting means for emitting at least a certain security signal, with a triggering means for determining whether a safety-relevant event is present in the vehicle, said Carrier of the signal emitted by the transmitting means, an electromagnetic wave in the non-visible region, and having at least one information receiver in a second vehicle with a receiving part for receiving safety-related information that is emitted by a vehicle transmitter, and at least one warning device in the vehicle in which the triggering means is connected at least to the following systems in the vehicle: Brake detector, on / off switch of the hazard warning lights and is set up so that it transmits to the transmitting means information at least about the reason of the trip gt and wherein the transmitting means of the vehicle transmitter transmits this information, and the warning device has at least two different representations for different warning or emergency situations.

EP 0 473 866 A2 discloses a collision avoidance system in which a sensor acquires a multiplicity of potential collision objects and predicts a possible collision with the aid of the acquired data. 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 specified how a control unit decides whether the steering means, the Brake 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 which drive 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.

From DE 198 30 547 Al a crossing warning system is also known, which is also dependent on roadside and on-board facilities.

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. 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 needed by which the vehicle can signal the necessary steps such as evasion or braking to the driver, prepare and / or perform independently. Object of the present invention is therefore an initially mentioned method, which recognize the presence of a dangerous situation in the form of a possible collision as safe as possible and to ensure early detection of the danger situation when detecting a dangerous situation, thereby unnecessary dead times and associated extensions of the braking distance to prevent.

The object is solved by the features of claim 1. Advantageous developments are the subject of the dependent claims.

The method provides another warning function based on vehicle-to-vehicle communication and information such as map data, e.g. from a navigation system located in the vehicle.

Particularly advantageous is the method, which is thereby made possible to warn against obstacles, without using environment sensors.

Decisive point of the invention is the linking of actual values to nominal values in order to conclude from this an unusual event (obstacle). Thus, in principle, a kind of error detection is performed for driving situations and it is concluded on the basis of the deviation or a deviation of a similarity measure that it is a dangerous situation.

The method for avoiding collisions of vehicles is particularly advantageous, with control means which are activated via vehicle safety systems and / or driver assistance systems. be discussed in the vehicle, wherein by means of a first determination of a radius to be traversed by a vehicle target vehicle trajectory is determined in real time and determined by a second determination of the radius of an actual traversed by the vehicle vehicle trajectory in real time and by means of another Determining on the basis of a similarity measure the differences in the radii of the target vehicle lane and the actual vehicle lane are determined and when exceeding and / or falling below thresholds, a position is determined at which the over and / or falls below the thresholds and this position to further in the Immediately surrounding vehicles is transmitted by means located in the vehicle transmitting and receiving device.

In a further advantageous embodiment of the invention, the first determination is based on information on in-vehicle digital map data, e.g. carried out based on a navigation system.

A particularly advantageous embodiment is characterized in that the transmission of the determined position by a vehicle-to-vehicle communication and the transmission of the determined position by means of unicast and / or multicast and / or broadcast mode.

It is particularly advantageous to secure the transmission of the ascertaining position by means of error-detecting and / or error-correcting method steps and, as a measure of similarity, to determine a difference of the radii determined. Description of exemplary embodiments

The object of the invention is to create an obstacle or the like, which is a potential collision object, in e.g. a curve, which prevents a vehicle from continuing to follow its intended route.

As vehicle safety systems, i.a. All brake systems available in the vehicle can be used with electronic control. Vehicle safety systems may include the Electronic Break System (EBS), the Engine Management System (EMS), Anti-lock Braking System (ABS), Traction Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Transmission Control Unit (EDS). TCU), Traction Control System (TCS), Electronic Brake Force Distribution (EBV) and / or Engine Drag Torque Control (MSR).

According to the invention, the information from the driver assistance systems can additionally be utilized. Driver assistance systems are electronic ancillary devices in vehicles to assist the driver in certain driving situations. These systems partially or autonomously intervene in drive, control (eg gas, brake). Such driver assistance systems are, for example, parking aid (sensor arrays for obstacle and distance detection), brake assist (BAS), cruise control, adaptive cruise control or proximity control (ACC), distance warning, turn assistant, traffic jam assistant, lane detection system, lane departure warning / lane assistant (lane departure warning (lane departure warning) LDW)), lane keeping support), lane change assistance, Lane Change Support, Intelligent Speed Adaptation (ISA), Adaptive Headlights, Tire Pressure Monitoring System, Driver Status Detection, Traffic Sign Recognition, Platooning, Automatic Emergency Braking (ANB), Headlight Fade-In and Fade-Out, Night Vision.

The sequence of the method according to the invention is composed of the following steps and is explained using the example of the determination and transmission of the curve radius as relevant information of the vehicle dynamics:

There are several ways of detecting an obstacle, with the procedure comprising the following steps:

1. Determination of the radius of the curve

2. Determination of the actual driven radius in the curve

3. Determination of the change of the actual radius

4. Transfer of the position of the change

1. Determination of the radius of the curve

The radius of a curve is, for example, by a determination of the own location information takes place in the way that the GPS data is received from at least four satellites and thereby the exact location is determined. The determined position data are used as basic information. This basic information is supplied to a digital map of a positioning system in the vehicle, such as a navigation system. An important factor in the warning of dangerous situations is the direction of travel of your own vehicle. A calculation option for determining the direction of travel is a subtraction of the received GPS data. Step 1 is performed only if the data rate of the transmitted or determined actual radii is very small.

2. Determination of the actual driven radius in the curve

To determine the radius of the curve, on the one hand, the already mentioned map data of navigation systems in the vehicle will be used. On the other hand, the current radius can also be filtered with a low pass and thus the setpoint radius can be determined. In comparison of these two method steps, it is envisaged, depending on the requirements of the computer unit to be used, to carry out the method steps with the map data if the requirement of high accuracy is required because the determination made is significantly more accurate and it is advantageous with map data to recognize the obstacle ,

Instead of the current radius, it is inventively contemplated that the steering wheel angle is used.

3. Determination of the change of the actual radius

If a fast, strong and short-term change of the actual radius has occurred, it can be assumed that the normal route could not be followed. If this change occurs abruptly, then an obstacle can be assumed.

The position of this change is determined and a warning is determined for this location.

4. Transfer of the position of the change There is a cyclic real-time transmission of the determined position of the obstacle at the time of abrupt Lenkradwinkel- and / or radius change associated with a warning of vehicle 1 to vehicle 2 or to the adjacent, subsequent vehicles. When a dangerous situation occurs due to the sudden intervention in the steering wheel, a prioritized and immediate transmission of the determined position thus takes place. It is understood that all process steps are carried out under real-time conditions.

In principle, all steps of the method are carried out on the first vehicle and / or on the second vehicle. This only changes the type of data being transferred. In the case where everything is detected on the first vehicle, only the warning of the obstacle is transmitted to the 2nd vehicle.

In a preferred embodiment of the invention, only the respective current radius in the first vehicle is calculated and this transmitted to the second vehicle. In a further embodiment, only the positions of vehicle 1 to vehicle 2 are transmitted and vehicle 2 calculates from these the current radius. In this case, it is inventively contemplated to make a distinction in an additional verification step, whether it is at the current radius to correct maneuvers or whether it is caused by transmission errors deviations.

For the purposes of this invention straight stretches are to be understood as curves with an infinite radius. In the transmission of the above information, distortions and transmission errors are used by methods of error detection and error correction methods on both the transmitter and the receiver side. Error correction methods are used to detect errors in the storage and transmission of data and, if possible, to correct them. Error detection methods are limited to a pure error detection.

For this purpose, additional redundancy is added in the form of additional bits before the storage or transmission of the position determined, which is used on the destination side or receiver side for the determination of errors and error positions. It is intended, for example, that Bose Ray Chaudhuri Code (BCH), Cyclic Redundancy Check, Convolution Code, Fountain Code, Golay Code, Hamming Code, Low Density Parity Check Code (LDPC), Nordstrom Robinson Code, Parity Check , Rank Code, Reed-Muller Code, Reed-Solomon Code (RS), Repeat Accumulate Code (RA), Simplex Code, Slicing by Eight (SB8), Turbo Code, Repeat Code, Woven Code.

It is also thought to use so-called error-correcting codes in the transmission of the position. Error-correcting codes (ECC) is an error correction algorithm that, unlike parity checking, is capable of correcting a 1-bit error and detecting a 2-bit error. The ECC method requires 7 check bits on 32 bits and 8 check bits on 64 bits. Particularly advantageous is the use of ECC, as this allows a particularly high data integrity can be generated.

Claims

Claims:

1. A method for avoiding collisions of vehicles, wherein control means, which are addressed via vehicle safety systems and / or driver assistance systems, are present in the vehicle, characterized in that by means of a first determination of a radius to be traversed by a vehicle target vehicle trajectory is determined in real time and by means of a second determination of the radius of a traversed by the vehicle actual vehicle movement path is determined by vehicle safety systems and / or driver assistance systems in real time and by means of a further determination on the basis of a similarity measure the differences in the radii of the target vehicle and the actual vehicle path are determined and at above and / or below threshold values, a position is determined at which the overshoot and / or undershooting of the threshold values takes place, this position being located on further vehicles located in the immediate vicinity by means of the vehicle transmitting and receiving device is transmitted.

2. The method according to claim 1, characterized in that the first determination is based on information from in-vehicle digital map data and a received GPS signal.

3. The method according to one of the two preceding claims characterized in that as a measure of similarity, a difference of the determined radii is determined.

4. The method according to any one of the preceding claims 1 to 3 characterized indicates that the transmission of the determined position by means of vehicle to vehicle communication.

5. The method according to any one of the preceding claims 1 to 4 characterizes characterized in that the transmission of the determined position by unicast and / or multicast and / or broadcast mode takes place.

6. The method according to any one of the preceding claims 1 to 5 characterizes characterized in that a hedge of the transmission of the determining position is carried out by error-detecting and / or error-correcting measures.