WO2008128998A1 - Procédé pour éviter les collisions entre véhicules - Google Patents

Procédé pour éviter les collisions entre véhicules Download PDF

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Publication number
WO2008128998A1
WO2008128998A1 PCT/EP2008/054739 EP2008054739W WO2008128998A1 WO 2008128998 A1 WO2008128998 A1 WO 2008128998A1 EP 2008054739 W EP2008054739 W EP 2008054739W WO 2008128998 A1 WO2008128998 A1 WO 2008128998A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
determined
determination
radius
transmission
Prior art date
Application number
PCT/EP2008/054739
Other languages
German (de)
English (en)
Inventor
Adam Swoboda
Ulrich STÄHLIN
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2008128998A1 publication Critical patent/WO2008128998A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models

Definitions

  • the invention relates to a method for avoiding vehicle collisions, in particular for motor vehicles.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • Decisive point of the invention is the linking of actual values to nominal values in order to conclude from this an unusual event (obstacle).
  • 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.
  • control means which are activated via vehicle safety systems and / or driver assistance systems.
  • 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.
  • 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.
  • 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.
  • 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).
  • EBS Electronic Break System
  • EMS Engine Management System
  • ABS Anti-lock Braking System
  • ASR Traction Control
  • ESP Electronic Stability Program
  • EDS Electronic Differential Lock
  • TCU Transmission Control Unit
  • TCU Traction Control System
  • EVS Electronic Brake Force Distribution
  • MSR Engine Drag Torque Control
  • 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).
  • 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.
  • parking aid sensor arrays for obstacle and distance detection
  • BAS brake assist
  • ACC adaptive cruise control or proximity control
  • ACC adaptive cruise control or proximity control
  • ACC adaptive cruise control or proximity control
  • ACC adaptive cruise control or proximity control
  • ACC distance warning
  • 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.
  • the already mentioned map data of navigation systems in the vehicle will be used.
  • the current radius can also be filtered with a low pass and thus the setpoint radius can be determined.
  • the position of this change is determined and a warning is determined for this location.
  • only the respective current radius in the first vehicle is calculated and this transmitted to the second vehicle.
  • 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.
  • BCH Bose Ray Chaudhuri Code
  • Cyclic Redundancy Check Convolution Code
  • Fountain Code Golay Code
  • Hamming Code Low Density Parity Check Code
  • LDPC Low Density Parity Check Code
  • RS Reed-Solomon Code
  • RA Repeat Accumulate Code
  • Simplex Code Slicing by Eight (SB8)
  • SB8 Turbo Code, Repeat Code, Woven Code.
  • Error-correcting codes 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.

Landscapes

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

Abstract

L'invention concerne un procédé pour éviter les collisions entre véhicules. Selon l'invention, il existe dans le véhicule des moyens de commande qui sont sollicités par des systèmes de sécurité du véhicule et/ou des systèmes d'assistance au conducteur, un rayon d'une trajectoire de déplacement de consigne du véhicule à parcourir par le véhicule est déterminé en temps réel au moyen d'une première détermination et le rayon d'une trajectoire de déplacement réelle du véhicule parcourue par le véhicule est déterminé en temps réel au moyen d'une deuxième détermination. Toujours selon l'invention, les différences entre les rayons de la trajectoire de consigne du véhicule et la trajectoire réelle du véhicule sont déterminées au moyen d'une détermination supplémentaire à l'aide d'un indice de similitude et, si ces différences deviennent inférieures et/ou supérieures à des valeurs de seuil, il y a détermination de la position à laquelle se produit ce franchissement vers le haut ou le bas des valeurs de seuil. Conformément à l'invention, cette position est communiquée à d'autres véhicules qui se trouvent à proximité immédiate et elle est transmise au moyen de dispositifs émetteurs qui se trouvent dans le véhicule.
PCT/EP2008/054739 2007-04-18 2008-04-18 Procédé pour éviter les collisions entre véhicules WO2008128998A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007018697 2007-04-18
DE102007018697.7 2007-04-18
DE102008019781.5 2008-04-18
DE102008019781A DE102008019781A1 (de) 2007-04-18 2008-04-18 Verfahren zur Vermeidung von Fahrzeugkollisionen

Publications (1)

Publication Number Publication Date
WO2008128998A1 true WO2008128998A1 (fr) 2008-10-30

Family

ID=39588011

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/054739 WO2008128998A1 (fr) 2007-04-18 2008-04-18 Procédé pour éviter les collisions entre véhicules

Country Status (2)

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DE (1) DE102008019781A1 (fr)
WO (1) WO2008128998A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448730A (zh) * 2013-09-17 2013-12-18 东南大学 一种高速公路汽车追尾碰撞预警关键参数估计方法
US9632507B1 (en) 2016-01-29 2017-04-25 Meritor Wabco Vehicle Control Systems System and method for adjusting vehicle platoon distances based on predicted external perturbations

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010007899B4 (de) * 2010-02-13 2014-05-28 Audi Ag Kraftfahrzeug mit einem Längsführungssystem mit STOP- & GO-Funktion und einer automatisch einlegbaren Parkbremse
DE102010061829A1 (de) 2010-11-24 2012-05-24 Continental Teves Ag & Co. Ohg Verfahren und Abstandskontrolleinrichtung zur Vermeidung von Kollisionen eines Kraftfahrzeugs in einer Fahrsituation mit geringem Seitenabstand
DE102016215538A1 (de) * 2016-08-18 2018-03-08 Robert Bosch Gmbh Verfahren zum Transformieren von Sensordaten

Citations (3)

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US5546311A (en) * 1993-10-28 1996-08-13 Honda Giken Kogyo Kabushiki Kaisha Intercommunication system for vehicle
DE102005039525A1 (de) * 2005-08-18 2007-02-22 Daimlerchrysler Ag Verfahren zur Bestimmung eines Fahrschlauchs innerhalb dem sich ein Fahrzeug mit großer Wahrscheinlichkeit fortbewegt
US20070078584A1 (en) * 2005-10-05 2007-04-05 Nissan Motor Co., Ltd Cruise control system

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DE3941402A1 (de) 1989-12-15 1991-06-20 Asea Brown Boveri Verfahren zum erkennen und abwenden einer kollisionsgefahr zwischen sich hintereinander herbewegenden fahrzeugen, insbesondere kraftfahrzeugen, sowie abstandswarnsysteme zur durchfuehrung der verfahren
US5249157A (en) 1990-08-22 1993-09-28 Kollmorgen Corporation Collision avoidance system
JP3857402B2 (ja) 1997-12-05 2006-12-13 富士通株式会社 交差点衝突防止方法及びシステム及び交差点衝突防止プログラムを格納した記憶媒体及び交差点装置
DE29803684U1 (de) 1998-03-03 1998-05-14 Hertel, Jürgen, 86926 Pflaumdorf Sicherheitssystem für Kraftfahrzeuge im Straßenverkehr
JPH11328598A (ja) 1998-05-18 1999-11-30 Toyota Motor Corp 交差点警報システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5546311A (en) * 1993-10-28 1996-08-13 Honda Giken Kogyo Kabushiki Kaisha Intercommunication system for vehicle
DE102005039525A1 (de) * 2005-08-18 2007-02-22 Daimlerchrysler Ag Verfahren zur Bestimmung eines Fahrschlauchs innerhalb dem sich ein Fahrzeug mit großer Wahrscheinlichkeit fortbewegt
US20070078584A1 (en) * 2005-10-05 2007-04-05 Nissan Motor Co., Ltd Cruise control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448730A (zh) * 2013-09-17 2013-12-18 东南大学 一种高速公路汽车追尾碰撞预警关键参数估计方法
US9632507B1 (en) 2016-01-29 2017-04-25 Meritor Wabco Vehicle Control Systems System and method for adjusting vehicle platoon distances based on predicted external perturbations

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Publication number Publication date
DE102008019781A1 (de) 2008-10-30

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