WO2009074671A1 - Procédé et système d'ajustement d'un véhicule - Google Patents

Procédé et système d'ajustement d'un véhicule Download PDF

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Publication number
WO2009074671A1
WO2009074671A1 PCT/EP2008/067395 EP2008067395W WO2009074671A1 WO 2009074671 A1 WO2009074671 A1 WO 2009074671A1 EP 2008067395 W EP2008067395 W EP 2008067395W WO 2009074671 A1 WO2009074671 A1 WO 2009074671A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lane
driving
light distribution
driving instruction
Prior art date
Application number
PCT/EP2008/067395
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Otmar Schreiner
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 WO2009074671A1 publication Critical patent/WO2009074671A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/33—Driving situation
    • B60Q2300/336—Crossings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body

Definitions

  • the invention relates to a method for adapting a vehicle having at least one assistance device, in which a driving instruction is generated, which relates to a driving maneuver to be performed by the vehicle operator. Furthermore, the invention relates to a system for adapting a vehicle, comprising at least one assistance device, in which a driving instruction can be generated, which relates to a driving maneuver to be performed by the vehicle operator.
  • Modern motor vehicles often have assistance systems which generate driving hints, which point the vehicle operator to a driving maneuver to be performed and / or guide him to carry out a driving maneuver.
  • An example of such an assistance system is a navigation system which calculates a route to a destination predetermined by the vehicle operator based on a position of the vehicle. Such a navigation system generally generates driving instructions that guide the vehicle operator along the calculated route.
  • a safety system that can detect objects by means of an environmental sensor of the vehicle and detect impending collisions between the vehicle and an object. Such a system can alert the vehicle operator to an imminent collision so that it can initiate suitable driving maneuvers to avoid the collision or to reduce collision consequences.
  • such a system can also determine whether an evasive maneuver to avoid a collision is feasible and give the vehicle operator instructions for performing the evasive maneuver.
  • assistance systems that generate driving hints are, for example, lane keeping assistance systems, which warn the vehicle operator when the vehicle accidentally leaves or threatens to leave a lane, or systems that recognize speed limits and alert the vehicle operator to existing speed limits.
  • a method for adapting a vehicle with at least one assistance device is proposed.
  • a driving instruction is generated which relates to a driving maneuver to be carried out by the vehicle operator.
  • the method is characterized by the fact that, in accordance with the driving instruction, Lighting device of the vehicle generated light distribution and / or a detection range of at least one environment sensor of the vehicle is adjusted.
  • a system for customizing a vehicle comprises at least one assistance device in which a driving instruction can be generated which relates to a driving maneuver to be carried out by the vehicle operator. Furthermore, the system comprises a control unit which is designed to control an adaptation of a light distribution generated by a lighting device of the vehicle and / or a detection range of at least one environmental sensor of the vehicle in accordance with the driving instruction.
  • driving instruction is to be understood in the context of the invention in its broadest meaning.
  • the driving hints may specify a particular driving maneuver, such as a turn, a lane change, or an evasive maneuver.
  • the term also includes warnings that are output in a certain driving situation in order to cause the vehicle operator to carry out a driving maneuver selected by him.
  • the driving instructions are preferably generated before the vehicle operator carries out the relevant driving maneuver.
  • the invention includes the idea of changing the light distribution generated by a lighting device of the vehicle as a function of a driving instruction.
  • a lighting device of the vehicle in this way, it can advantageously be achieved, in particular, that certain areas of the surroundings of the vehicle are better illuminated with regard to a driving maneuver to be carried out by the vehicle operator.
  • a corresponding advantage is associated with the adaptation of the detection range of an environment sensor of the vehicle. As a result, objects in a certain area of the environment of the driving be detected with regard to a maneuver to be performed by means of the environmental sensor better.
  • the illumination device may include front headlights of the vehicle, which emit light forward in the vehicle longitudinal direction, which is perceptible by the vehicle operator. Furthermore, with regard to the implementation of a driving maneuver, it is particularly important to be able to detect objects or sources of danger in the front surrounding area of the vehicle into which the vehicle is moving when carrying out the driving maneuver. Therefore, it is provided in one embodiment of the method and the system that the light distribution and / or the detection area in the vehicle longitudinal direction is formed in front of the vehicle.
  • a further embodiment of the method and the system provides that the adjustment is made when it is determined that a distance of the vehicle to a position at which the driving maneuver is to be performed falls below a threshold value. This ensures that the adaptation takes place in good time before the maneuver is carried out.
  • An embodiment of the method and the system includes that the driving instruction determines a change in the direction of travel of the vehicle, wherein the light distribution and / or the detection range are extended on a determined in dependence on the driving advice page. This allows the driving instruction to determine a change in the direction of travel of the vehicle, wherein the light distribution and / or the detection range are extended on a determined in dependence on the driving advice page.
  • the described adaptation of the light distribution can attract the attention of the driver. tool operator to be made to the change in the direction of travel to be made.
  • the determined side is preferably the side pointing in the direction of the changed direction of travel.
  • the light distribution and / or the detection range are preferably extended to the left or to the right, depending on whether the direction of travel of the vehicle is to be changed to the left or to the right.
  • the extension takes place on one side in QuerseSehnungshchtung the light distribution or the detection area.
  • the Quuntersdehnungsraum usually runs transversely to the vehicle longitudinal direction.
  • the change in the direction of travel of the vehicle may relate in particular to a turning process or a lane change. If the turning operation is carried out on a turning lane provided for this purpose, it can be better illuminated by the adaptation of the light distribution described above. When changing lanes, the intended destination lane can already be better illuminated before the lane change is carried out.
  • a refinement of the method and of the system is characterized in that the driving instruction determines a change of a direction of travel of the vehicle, wherein a pattern is projected on a background in an area lying in front of the vehicle as a function of the driving instruction by means of the illumination device.
  • the substrate may in particular be a roadway or a substrate arranged next to the roadway.
  • the change to be made in the direction of travel can, in turn, relate in particular to a turning process or a lane change.
  • the attention of the vehicle operator can be directed to the change in the direction of travel to be carried out, and he can be used to carry out the driving direction change. be guided.
  • the pattern may, for example, be an arrow pointing in the direction of the travel direction to be selected.
  • the pattern can be projected in a stationary manner on the ground.
  • the projection location may have a fixed position with respect to a position at which the change of the direction of travel is to be made. In this way, the vehicle operator can be pointed to the place where the direction of travel change is to be made.
  • An embodiment of the method and the system is characterized in that the driving instruction determines at least one lane of a road to be selected by the vehicle operator, wherein in the light distribution a light intensity in the area of the lane to be selected is increased and / or wherein the detection area is towards dialing lane is widened.
  • this can improve the visibility of objects on the lane to be selected for the vehicle operator or the environment sensor.
  • the attention of the vehicle operator can be directed to the lane change and the lane to be selected.
  • a further embodiment of the method and the system is characterized in that the driving instruction determines a lane to be selected by the vehicle operator, wherein by means of the illumination device, a pattern is projected in a lying in front of the vehicle area on a substrate and wherein the pattern to be selected Lane indicates. As a result, the vehicle operator can also be notified of the lane to be selected.
  • the lane to be selected can be, for example, the current lane of the vehicle or a lane adjacent to the current lane of the vehicle.
  • the driving instruction determines a reduction of a speed of the vehicle, wherein due to the driving instruction, a longitudinal extent of the light distribution is reduced. This preferably corresponds to a reduction of the lighting range of the illumination device of the vehicle. In this way, the vehicle operator can be alerted to a reduction in the vehicle speed to be carried out. In addition, it is exploited that it is often a natural reaction of the vehicle operator to a reduction in visibility to reduce vehicle speed.
  • an embodiment of the method and the system provides that the driving instruction determines a reduction of a speed of the vehicle, wherein a pattern is projected in an area in front of the vehicle on a surface and wherein the pattern indicates a speed reduction.
  • the vehicle operator can also be made aware that the vehicle speed is to be reduced.
  • An embodiment of the method and of the system provides that the driving indication is generated by a navigation device of the vehicle in order to guide the vehicle operator to a predetermined destination along a route calculated in the navigation device, starting from a current position of the vehicle.
  • the driving instruction is generated by a safety system of the vehicle, wherein the driving instruction determines a change of the direction of travel of the vehicle in an evasion direction, in which an evasive maneuver to avoid a collision with a means of the Security system detected object can be performed.
  • the driving instruction includes a warning of a source of danger, which has been detected by an environmental sensor of the vehicle, depending on the driving advice, a pattern is projected in a lying in front of the vehicle area on a ground and the pattern indicating the source of the hazard.
  • the vehicle operator can be made aware of an existing hazard based on such a pattern.
  • the pattern can be projected onto the substrate in such a way that the projection location is fixed in relation to the source of danger.
  • the vehicle operator can be made aware of the location at which the source of danger is located.
  • a development of the method and of the system is characterized in that the driving instruction is generated when it is determined that the vehicle is approaching a lane boundary or driving over the lane boundary, wherein the light distribution is adjusted such that a pivoting of the light distribution due to a Approaching the lane boundary or driving over the lane boundary is substantially compensated.
  • FIG. 1 shows a schematic representation of a system for controlling a lighting device and / or an environment sensor on the basis of FIG
  • FIG. 2 shows a schematic representation of an embodiment of a standard light distribution generated by the illumination device
  • 3a is a schematic representation of a light distribution that can be adjusted to the right at a recommended turn at a road intersection
  • 3b is a schematic representation of a light distribution that can be set at a recommended turn at a road intersection to the left,
  • FIG. 4 is a schematic illustration of a pattern projected onto a ground indicating a recommended turn to the right;
  • 5a a schematic representation of a region with an increased light intensity for illuminating a lane to be selected during a lane change
  • 5b is a schematic representation of a region with an increased light intensity for illuminating a lane to be selected at a fork
  • 6a shows a schematic representation of a pattern projected onto a ground, which points to a lane to be selected at a fork
  • 6b shows a schematic representation of a pattern projected onto a ground, which indicates a recommended lane change
  • FIG. 7 shows a schematic representation of an area with an increased light intensity for illustrating the course of lanes at a fork
  • FIG. 8 is a schematic representation of patterns projected on a ground to illustrate the course of lanes at a fork
  • 9a is a schematic representation of a light distribution that can be set in a recommended avoidance in front of a detected object
  • 9b is a schematic representation of a region with an increased light intensity to illustrate an alternate direction in a deflection in front of a detected object
  • FIG. 10 is a schematic representation of a projected onto a substrate pattern to illustrate an alternate path
  • 11 is a schematic representation of an adapted light distribution that can be adjusted when the vehicle threatens to leave a lane unintentionally.
  • FIG. 1 shows a schematic representation of components of an assistance system of a motor vehicle 201 (FIG. 2).
  • a control of a lighting device 101 of the motor vehicle 201 can be carried out.
  • the lighting device 101 comprises a left front headlight 102L and a right front headlight 102R.
  • the headlights 102L, 102R are each enclosed in an opening of the body of the vehicle 201 and in particular produce a dipped beam.
  • the headlights 102L, 102R may also be operated in a high beam mode, for example.
  • the headlamps 102L, 102R are usually turned on in low visibility conditions to improve the visibility of the vehicle operator. This can be done manually by the vehicle operator or by a control unit which performs the activation of the headlights 102L, 102R, for example in response to signals from a light sensor.
  • the headlights 102L, 102R emit light in the forward direction and thereby generate a light distribution in front of the vehicle 201.
  • the light distribution of the headlights 102L, 102R is understood to mean, in particular, a region of the surroundings of the vehicle 201 in which the light intensity of the light emitted by the headlights 102L , 102R emitted light exceeds a certain intensity.
  • the light intensity can be homogeneous. However, there may also be an inhomogeneous intensity distribution.
  • FIG. 2 shows by way of example a light distribution 202 which is asymmetrically shaped.
  • the asymmetry is adapted to a right-hand traffic and chosen so that the headlight range on the right side is greater than on the left side to ensure good illumination of the right-hand edge of the road and to reduce glare for oncoming traffic.
  • a light distribution mirrored with respect to the vehicle's longitudinal axis is preferably provided.
  • the light distribution 202 illustrated in FIG it can be a default light distribution.
  • the light distribution generated by the headlights 102L, 102R can be adapted in given driving situations. Possible adjustments of the light distribution include, in particular, a change in the form of the light distribution and / or a change in the light intensities within the light distribution.
  • patterns may also be projected at a distance in front of the vehicle 201 on or beside the roadway.
  • the patterns are preferably perceptible within the light distribution produced by the headlamps 102L, 102R. This can be achieved by a higher light intensity and / or a color of the pattern, which differs from the color of the remaining light distribution. Basically, any pattern can be displayed. Examples are, for example, on the road projected arrows and warnings.
  • the patterns can be projected onto the ground within an existing light distribution generated by the front lights 102L, 102R. Likewise, it may be provided that only patterns are projected onto the ground without the headlights 102L, 102R also generating a light distribution. This means that even if the headlights 102L, 102R have not been turned on for visual enhancement, patterns can be projected on or beside the roadway.
  • the headlamps 102L, 102R comprise a central light source, which may be configured, for example, as an incandescent lamp, halogen lamp or xenon lamp.
  • adjustable reflectors, optics and diaphragms are provided to change the light distribution.
  • An example of such a headlight 102L, 102R is a so-called PES headlamp, which has polyellitic reflectors (PES: poly-ellipsoid system).
  • the headlamps 102L, 102R as a light source may be a field of being arranged in a matrix Have light emitting diodes, which are individually switchable to change the light distribution.
  • the projection of patterns can also be done by means of the headlights 102L, 102R, if they can be controlled appropriately.
  • the diodes may be suitably controlled to produce perceptible patterns within the light distribution.
  • provision may also be made for the patterns to be generated by means of a further lighting unit, not shown in the figures, of the lighting device, which is arranged on the front of the vehicle.
  • the vehicle 201 in addition to the illumination device 101, has an environmental sensor system 109.
  • the environmental sensor system 109 includes one or more environment sensors with which objects in the surroundings of the vehicle 201 can be detected. These may, for example, be radar or lidar sensors. Likewise, one or more camera sensors may be part of the environmental sensor system 109.
  • the environment sensors contained in the environment sensor system 109 each have a detection area, in which objects can be detected, which are located in the environment of the vehicle 201.
  • the detection area corresponds to the area in which electromagnetic radiation is emitted. A portion of the emitted radiation is reflected by objects located in the detection area and detected by the sensor. As a result, for example, the position and / or speed of the objects can be determined.
  • the detection area corresponds to the area from which light can enter the camera sensor.
  • the detection range of the environmental sensor system 109 preferably includes a solid angle range in the front environment of the motor vehicle 201.
  • the detection range of the environmental sensor system 109 may also be a lateral one and / or the rear environment of the vehicle 201 include.
  • the detection ranges of one or more environment sensors included in the environmental sensor 109 can be adapted.
  • the shape or orientation of one or more detection areas pointing forwardly in the longitudinal direction of the vehicle can be changed.
  • the light output of the headlights 102L, 102R and of the optional additional lighting unit is controlled by a control unit 103.
  • the control unit 103 is also able to adapt the detection range of one or more environmental sensors, if so provided.
  • the adjustments made by the control unit 103 are carried out on the basis of input signals that are transmitted by other components of the assistance system to the control unit 103 and correspond to driving hints that are generated in the assistance system.
  • the driving hints are generated in a navigation system 104 of the vehicle 201.
  • the navigation system 104 includes a position determination device 105 with which the current position and direction of movement of the vehicle 201 can be determined.
  • the position determination device 105 is configured as a satellite-based positioning device known per se to the person skilled in the art, which is based for example on the GPS (Global Positioning System), the DGPS (Differential Global Positioning System) or another satellite navigation system.
  • the position-determining device 105 can also be designed in a different way.
  • the navigation system 104 comprises a navigation unit 106, which is capable of calculating a route through a road network drivable by the vehicle 201 to a predetermined destination, based on a position of the vehicle 201 determined by means of the position determination device 105.
  • the navigation unit 106 accesses map data which represents the road network of the geographical region. hold, in which the vehicle 201 is located.
  • the map data is stored in a digital data carrier 107 that can be read by the navigation unit 106.
  • the data carrier 107 may be a compact disk (DC), a DVD, a flash memory or a hard disk.
  • the data carrier 107 can also be configured in another way.
  • the map data may associate the included roads with road information including attributes of the roads.
  • the navigation unit 106 also accesses the map data if the route guidance function is not activated. In this case, the navigation unit 106 can use the map data to monitor a road ahead of the vehicle 201.
  • input signals of the control unit 103 may also be provided by an evaluation device 108.
  • This is designed to recognize predetermined driving situations and to generate driving hints in these situations.
  • the evaluation device 108 can provide a plurality of evaluation modules 112, 113, which are each assigned to a specific driving situation and generate driving information in the relevant driving situation. To recognize and evaluate driving situations, the evaluation device 108 accesses detection devices of the vehicle 201.
  • a detection device may be the environment sensor system 109 described above of the vehicle 201.
  • the evaluation device 108 can preferably access the navigation system 104 and its functions.
  • driving hints may also be generated in the evaluation device 108 on the basis of information provided by information sources outside the vehicle 201 and received by means of a receiving device 110 of the vehicle 201.
  • the sources of information may be stationary or moving transmitting devices, of which in the figure, by way of example, a transmitting or transmitting device may be used.
  • device 111 is shown.
  • the data transmission from the transmitting device 111 to the vehicle 201 preferably takes place via a radio link, wherein radio signals are transmitted by the transmitting device 111, which can be received by means of the receiving device 110 of the vehicle 201, provided that the vehicle 201 is within the range of the transmitting device 111.
  • the information sent by transmitting devices 111 relate to events and conditions that take place or take place at specific positions. The positions may be specified within the transmitted information and related to the position of the vehicle 201 determined by the position determining means 105 to determine whether the information for the vehicle 201 is relevant.
  • the data transmission from the transmission device 111 to the vehicle 201 is based in one embodiment on the DSRC technology known per se, which makes it possible to establish an ad hoc connection between a vehicle and a transmission device 111.
  • DSRC wireless Local Area Network
  • other communication technologies such as WLAN (Wireless Local Area Network), a communication over a mobile network, in particular via GPRS, UMTS, LTE or the like can be used to transmit information from the transmitting device 111 to the vehicle 201.
  • the range of the transmitting device 111 is for example a few 100 meters.
  • navigation instructions informing the driver of the vehicle 201 of which direction the vehicle 201 is to be steered at a road junction in order to follow a route calculated in the navigation unit 106 to a predetermined destination.
  • the navigation instructions can be output in a manner known to those skilled in the art by means of a display device, which in the interior of the vehicle 201 and can be viewed by the vehicle operator. Furthermore, an acoustic output can be provided by means of loudspeakers arranged in the interior of the vehicle 201.
  • the output of the directional indications occurs when the vehicle 201 approaches an intersection or branch.
  • a first output is preferably carried out when the distance between the vehicle 201 and the intersection or branching falls below a predetermined threshold value. The calculation of this distance is performed by the navigation unit 106 by a comparison of the current position of the vehicle 201 determined by the position determination device 105 and the position of the intersection or branching determined on the basis of the map data.
  • an adaptation of the light distribution generated by the headlights 102L, 102R is provided in one embodiment in order to convey the navigation instructions to the vehicle operator.
  • the adaptation is preferably also made when the vehicle 201 approaches a road intersection or branch, in particular when the distance between the vehicle 201 and the road intersection or branching drops below a threshold value.
  • This can correspond to the previously established threshold, which is decisive for the output of optical and / or acoustic direction indications in the interior of the vehicle 201.
  • another threshold value is selected, which is determined as a function of the headlamp range of the headlights 102L, 102R of the vehicle 201.
  • the threshold value may be selected such that an adaptation of the light distribution is made when the road intersection or the branch is within the lane area that can be illuminated by the headlights 102L, 102R.
  • the navigation unit 106 preferably determines the point in time at which the adaptation of the light distribution is performed by the control unit 103 on the basis of a comparison of the current position of the vehicle 201 determined by the position determination device 105 and the map data. agreed the position of the intersection or junction. If the distance between the vehicle 201 and the road intersection or branch below the predetermined threshold value, the navigation unit 106 transmits a request for adapting the light distribution to the control unit 103. Further, the navigation unit 106 also determines the time at which the vehicle 201, the road intersection or Turnoff has happened. If this is detected, then a corresponding message is sent to the control unit 103, which then reverses the adaptation of the light distribution and restores the intended standard light distribution 202.
  • the control unit 103 decides whether to adapt the headlights 102L, 102R or the environmental sensors. Further, the control unit 103 determines the timing at which the adjustment is made. This means that the navigation system 106 merely provides information regarding the present driving situation, in particular where the vehicle is located and where (for example, relative thereto) the road intersection or the branch is. In the navigation device 106, however, no decision is made in this embodiment on the setting of the headlights 102L, 102R or the environmental sensor system 109. For the following description, however, it is assumed by way of example that the decisions are made in the navigation device 106. In the embodiments described below, the decisions can nevertheless be made in the control unit 103.
  • the light distribution is extended in a predetermined manner as a function of a navigation instruction in Quer ⁇ Dehnungshchtung on a page.
  • the page is determined based on the navigation hint and corresponds to the direction in which to turn.
  • the light distribution is expanded to the left when the vehicle 201 is to be steered to the left.
  • FIG. 3 a shows, by way of example, an adapted light distribution 301, which is set when approaching a road intersection 302, which is to be turned to the right in order to follow the route calculated in the navigation unit 106.
  • FIG. 3 b shows an exemplary adapted light distribution 303 Approaching a road intersection 304 is set, at which to turn left to follow the route calculated in the navigation unit 106.
  • the standard light distribution 202 set in normal operation is also shown in the figures.
  • the light distribution on the other side may also be restricted in order to direct the driver's attention to the turning direction. Furthermore, it can be provided that the light intensity is increased in the direction corresponding to the turning direction relative to the light intensity on the other side. For this purpose, the light intensity can be increased on one side and / or the light intensity can be reduced on the other side.
  • the pattern may also be provided to project a pattern on or next to the carriageway in response to the navigation advice To alert the driver to the turn-off maneuver to be carried out.
  • the pattern is an arrow indicating which direction to turn.
  • the pattern may be projected onto the ground at a fixed distance from the vehicle 201. The distance is preferably selected so that the pattern is easily recognizable by the driver of the vehicle 201.
  • it may also be provided to project the pattern at a fixed position on the ground. In this case, the relative position of the projection to the vehicle 201 is continuously updated by the control unit 103.
  • the stationary position of the pattern is predetermined by the navigation unit 106 as a function of the current position of the vehicle 201 and is preferably selected such that the pattern points to the position at which the turning maneuver is to be carried out or initiated. Likewise, it may be provided that the position is additionally determined by means of the environmental sensor system 109.
  • FIG. 4 shows, by way of example, an arrow 401 projected onto the roadway, which indicates a recommended turning to the right at a road intersection 402.
  • the arrow 401 overlies the standard light distribution 202 generated by the headlamps 102L, 102R.
  • the arrow 401 can also be displayed within an adapted light distribution, or it can be provided to project only the arrow 401 onto the roadway.
  • the position of arrow 401 is selected to point to the road to turn into.
  • driving situations can arise, for example, when it is necessary to change to a special turning lane before turning.
  • driving in a particular direction or destination is often associated with the choice of a particular lane.
  • the navigation unit 106 also generates driving hints that specify a particular lane to be selected by the vehicle 201.
  • the control unit 103 preferably adjusts the light distribution generated by the headlights 102L, 102R in such a way that the target lane to be selected by the vehicle 201 is illuminated with a higher light intensity than the remaining areas of the light distribution. This adaptation can be made when the destination lane corresponds to the current lane or when the destination lane is adjacent to the current lane.
  • a target lane which runs at a certain angle different from zero to the vehicle longitudinal axis, with a higher light intensity. In this way, for example, at a fork the target lane to be selected by the vehicle 201 can be highlighted.
  • the increased light intensity on the target lane can be achieved by increasing the light intensity in the area of the target lane and / or by reducing the light intensity in the remaining areas of the light distribution.
  • FIG. 5 a shows by way of example the region 501 of the increased light intensity in the case in which a target lane 502 is located to the right of the current lane 503 of the vehicle 201.
  • FIG. 5 b illustrates a driving situation in which the right lane 505 is to be selected at a fork 504 in order to follow a calculated route.
  • a light distribution is included which comprises an area 506 which has an increased light intensity and in particular superimposes the target lane 505. The areas of normal light intensity are not shown here.
  • the information about the relative position of the target lane with respect to the vehicle 201 required for adapting the light distribution is preferably determined by the navigation unit 106 on the basis of a comparison of the position and direction of movement of the vehicle 201 with the course of the destination lane stored in the map data.
  • signals from the environmental sensor system 109 can be used to determine the relative position of the target lane with respect to the vehicle 201.
  • the timing at which the light distribution of the headlights 102L, 102R is adjusted as described above to illuminate a target lane having a high light intensity preferably corresponds to the timing at which the vehicle 201 has approached the beginning of the target lane so far that the Target lane within the headlight range of the headlights 102L, 102R is located. If the current lane is to be maintained as a target lane, then the adaptation of the light distribution is preferably carried out when a possible lane change could be made to another lane or another lane is within the headlamp range of the headlamps 102L, 102R.
  • 102L, 102R generated light distribution can also be a lane to be selected be identified by a projected onto the roadway pattern.
  • an arrow can again be used for this purpose, which points along the lane to be selected.
  • FIG. 6a such an arrow 601 is shown, which points along the right lane 602, which is to be selected at a fork 603.
  • FIG. 6b shows a schematic view of a further arrow 604, which points to a lane change to a destination lane 605.
  • Arrow 604 is projected onto the road such that one end of the arrow is on target lane 605 and the beginning is on current lane 606 of vehicle 201.
  • arrows 601, 604 are shown within standard light distribution 202 , Likewise, however, the arrows can also superimpose the light distribution adapted with regard to the shape and / or the intensity distribution, or it can be provided to project only the arrows 601, 604 onto the roadway.
  • control unit 103 makes an adaptation of the detection range of the surroundings sensor 109 as a function of the previously described navigation instructions generated in the navigation unit 106.
  • This adaptation can be performed as an alternative or in addition to the described control of the illumination device 101 of the vehicle 201.
  • a detection range, which is directed forward in the vehicle longitudinal direction, of an environmental sensor contained in the surroundings sensor system 109 is extended on one side in accordance with a navigation instruction in transverse extension direction. This is preferably the page corresponding to the direction in which the vehicle 201 is to be controlled based on the navigation instruction.
  • Such an extension can be effected, for example, by pivoting the corresponding environmental sensor about a pivot axis extending essentially perpendicular to the roadway plane.
  • the extension of the coverage is on the one hand with one restriction connected to the detection area on the other side.
  • this restriction is made only temporarily in the event of a turning maneuver or lane change.
  • Such an adaptation of the detection range of the environmental sensor system 109 ensures that objects can be better detected during a turn or when changing lanes, which are located on a side which points in the direction in which the vehicle 201 in a turning maneuver or at a lane change is controlled.
  • the lane to be selected is determined by the navigation unit 106 based on the calculated route to a predetermined destination. Unless route guidance to such a destination is made, that is, when the route guidance function of the navigation unit 106 is not activated, the lane to be selected by the vehicle operator can not be determined. If the route guidance function is not active, however, it may be provided that the course of existing traffic lanes on which the vehicle 201 could move is determined. This can be done by the navigation unit 106 based on the map data.
  • the evaluation device 108 may include an evaluation module which determines the lane course on the basis of signals of an environment sensor contained in the environment sensor system 109. This may be, for example, a camera sensor with a detection area directed forward in the vehicle longitudinal direction.
  • the front headlamps 102L, 102R it is possible to adapt the light distribution generated by the front headlamps 102L, 102R to the course of existing lanes.
  • This adaptation takes place in one embodiment, for example, when lanes of a road diverge at a fork.
  • the adaptation is preferably carried out when the angle between the selectable lanes is less than a threshold, so that a highlighting of the lanes within the light distribution is possible.
  • the highlighting of the selectable lanes follows, as described above, by increasing the light intensity in the area of the lanes. This results in a fork with two selectable lanes a substantially Y-shaped area with an increased light intensity.
  • Such an area 701 with an increased light intensity that can be set by the control unit 103 in order to alert the driver to an allocation of a lane 702 into a plurality of lanes 703 a, 703 b is illustrated by way of example in FIG.
  • the possible directions can also be identified by patterns projected onto the roadway, in particular arrows.
  • the arrows preferably point along the recognized lanes that can be used by the vehicle 201.
  • two such arrows 801 a, 801 b are shown in FIG. 8, which point along two lanes 802 a, 802 b, onto which a road splits at a fork 803.
  • the vehicle operator is informed about the lane course.
  • the vehicle operator can be made aware that the road is divided into two lanes.
  • the risk of a fork basically outgoing risk can be reduced that the vehicle operator controls the vehicle 201 in a range between existing lanes.
  • an adaptation of the light distribution 202 can be carried out as a function of driving hints, which include a speed recommendation.
  • the speed recommendation can, for example, a permitted Maximum speed in a road section result or from a directional speed for a road section.
  • An indicative speed is determined in one embodiment with respect to curves to be traversed by the vehicle 201. This is preferably done as a function of the radius of the curve to be traversed. This can be determined, for example, by the navigation unit 106 on the basis of the road map specified in the map data.
  • the route guidance function is active, it is also possible to take into account curves that are to be traversed when the turn maneuvers are to be carried out. Curves to be traversed, which are predefined on the basis of the course of the route ahead of the vehicle 201, can be taken into account in the case of both active and non-active route guidance function.
  • the curve radius can also be determined in another way in the evaluation device 108, for example based on the signals of the environmental sensor system 109, with which the road ahead of the vehicle 201 is detected, or on the basis of information from a arranged in the region of the curves transmitting device 111 is transmitted to the vehicle 201 and received by the receiving device 110.
  • an allowed maximum speed or a directional speed for a road section may be specified in the road information associated with roads within the map data.
  • the navigation unit 106 may generate speed recommendations based on the map data indicating the maximum permitted speed or a directing speed for a road section to be traveled by the vehicle 201.
  • a speed limitation or directing speed in a road section used for generating speed recommendations can also be determined in another way. In particular, the beginning of a section of road to which a maximum or topping-up speed is assigned, usually by a corresponding the road sign indicated.
  • one or more transmitting devices 111 disposed on the road section may send information indicating the maximum or directional speed associated with the road section. This information can be received by means of the receiving device 110 in the vehicle 201 and evaluated in the evaluation device 108 in order to determine the maximum or recommended speed and to generate a corresponding speed recommendation.
  • the speed recommendations are preferably generated when the vehicle 201 is approaching a route section in which the vehicle speed is to be reduced, that is, when the vehicle 201 is approaching a curve, for the in the evaluation device 108 or in the navigation unit 106, a directional speed has been calculated, or if the vehicle 201 is approaching a stretch of road which is otherwise associated with a maximum or topping speed. Furthermore, the speed specified in the speed recommendation is compared with the current vehicle speed, which can be determined, for example, by means of wheel speed sensors which are arranged on the wheels of the vehicle 201. An adaptation of the light distribution is performed by the control unit 103 when the current vehicle speed is greater than the top speed or top speed.
  • the adaptation takes place when the distance between the current position of the vehicle 201 and the beginning of the section to be traveled at a reduced speed falls below a threshold value. If this is the case, the navigation unit 106 or the evaluation device 108 sends a request for adapting the light distribution to the control unit 103, which makes the adjustment thereupon.
  • the adjustment of the light distribution made on the basis of a speed recommendation preferably comprises a reduction of the headlight range of the headlights 102L, 102R.
  • the lighting range can be reduced by a fixed amount. Likewise, it may be provided to determine the amount by which the headlamp range is reduced as a function of the difference between the current speed of the vehicle 201 and the recommended speed.
  • the driver of the vehicle 201 may be made aware that the vehicle speed should be reduced. In many cases, the speed reduction will be involuntarily made by the driver since speed reduction is a typical driver 201 reaction to a reduction in visibility.
  • a recommended reduction in vehicle speed may also be imparted by a pattern projected onto the roadway.
  • predefined regions of the light distribution of the headlights 102L, 102R preferably regions on the end of the light distribution facing away from the vehicle 201, can be colored with a predetermined color.
  • symbols such as a warning triangle or other symbol are projected onto the roadway to alert the driver that the vehicle's vehicle speed should be reduced.
  • driving instructions can alternatively or additionally be generated in a safety device of the vehicle 201.
  • the safety device comprises an evaluation module 112 of the evaluation device 108 configured as a danger computer.
  • the safety device also comprises one or more sensors in the environment sensor. Rik 109 contained environment sensors with which objects in the vicinity of the vehicle 201 can be detected, preferably in particular objects that are located in front of the vehicle 201.
  • the signals of the environmental sensors are used on the one hand to determine objects with which the vehicle 201 is on a collision course.
  • a free space monitoring is carried out by means of the environmental sensors, in which it is checked whether an evasive maneuver for accident prevention can be carried out collision-free.
  • the danger calculator 112 checks whether the vehicle 201 is on a collision course with an object. If such a collision course has been determined, the hazard calculator 112 preferably calculates the collision time, that is, the time duration until the collision determined. Furthermore, in the event of an imminent collision, it is checked on the basis of the environment data determined by means of the environment sensor system 109 whether an evasive maneuver can be carried out to avoid the collision. In particular, it is checked whether the collision time is sufficiently large and whether sufficient free space for evasion to the left or to the right is available.
  • the danger calculator 112 determines that an evasive maneuver is possible in a particular direction of evasion, then it generates a driving instruction.
  • the driving advice specifies the determined avoidance direction.
  • the driving advice is sent from the danger computer 112 to the control unit 103, which controls the lighting device 101 in dependence on the driving advice.
  • This can be done in an analogous manner, as previously described with reference to a navigation hint generated in the navigation unit 106. has been explained.
  • the light distribution produced by the headlights 102L, 102R may be extended in the transverse extension direction on the side facing the detected direction of deflection. On the opposite side, the light distribution can remain essentially unchanged or restricted in the transverse direction. Alternatively or additionally, it may be provided that the light intensity is increased in a region directed in the direction of escape in relation to the remaining regions of the light distribution.
  • FIG. 9 a shows, by way of example, a light distribution 901 which can be set by the control unit 103 when a collision of the vehicle 201 with an object 902 is imminent and it is possible to escape to the right.
  • the light distribution 901 is widened to the right in the transverse direction relative to the standard light distribution 202 likewise shown for comparison.
  • FIG. 9b shows, by way of example, an area 903 of the light distribution generated by the headlights 102L, 102R in the direction of deflection, in which the light intensity is higher than in the remaining areas.
  • the adjustments to the light distribution described above alert the vehicle operator to the evasive maneuver to be performed and the direction of avoidance. If the driver follows the extension of the light distribution on one side, then he intuitively initiates the evasive maneuver. In this way, in particular the reaction time of the driver to carry out the evasive maneuver can be reduced. Furthermore, the alternative space required for the evasive maneuver is better illuminated and can thus be better viewed by the driver.
  • the point of time in which the control unit 103 carries out the adaptation of the light distribution 201 preferably corresponds to the point in time at which an evasive maneuver is to be initiated in order to prevent a threatening collision of the vehicle 201 with an object.
  • This point in time is preferably determined by the danger computer 112 and signaled to the control unit 103.
  • the danger computer 112 can separate information is transmitted from the hazard calculator 112 to the control unit 103 in addition to the driving advice.
  • the time may already be indicated by the transmission of the direction indicator.
  • a pattern is projected onto the roadway, which points the vehicle operator to the danger.
  • This may be, for example, a warning symbol such as a warning triangle.
  • a pattern is selected, which points in the direction of the object, whereby the vehicle operator is informed of the position of the object.
  • Such a pattern may be an arrow, for example.
  • the arrow is preferably distinguished on the basis of its shape and / or color by an arrow, which conveys a direction recommendation to the driver in the manner described above. If a possible avoidance maneuver to avoid an imminent collision has been determined by the danger computer 112, the detected avoidance direction can also be identified by the projection of a corresponding pattern, in particular an arrow, on the roadway.
  • the danger calculator 112 is capable of calculating an avoidance path of the vehicle 201 for performing the avoidance maneuver.
  • the calculated avoidance path can be projected onto the roadway on the basis of a corresponding pattern, preferably once again using an arrow.
  • the driver is advised that an evasive maneuver can be performed.
  • the driver of the vehicle 201 can follow the arrow in performing the evasive maneuver, so that the vehicle guidance is simplified.
  • FIG. 10 shows an arrow 1001 which makes the path recognizable for an evasive maneuver to avoid a collision with an object 1002.
  • the arrow 1001 superimposes the standard light distribution 202 of the headlights 102L, 102R.
  • the arrow 1001 may also be displayed within a light distribution adapted as described above, or it may be provided to project only the arrow 1001 onto the roadway.
  • the vehicle 201 has a lane assist function, which is executed by the evaluation module 113 in the illustrated embodiment of the assistance system.
  • the lane departure warning function helps the vehicle operator avoid unintended lane departure.
  • the evaluation module 113 processes signals of an environment sensor contained in the surroundings sensor system 109, with which lane markings can be detected.
  • the environment sensor can be designed, for example, as a camera sensor that supplies images of a roadway area in front of and / or next to the vehicle 201. Within the images, the evaluation module 113 recognizes the markings that delimit the current lane of the vehicle 201, and determines the current position and orientation of the vehicle 201 with respect to the lane.
  • the evaluation module 113 determines an unintentional departure from the lane if the operation of a direction indicator of the vehicle 201 has been omitted.
  • the direction indicator is operated by the vehicle operator when a lane change or other directional change is intended and may be configured as a turn signal or blinking light, for example.
  • the evaluation module 113 If the evaluation module 113 has detected an unintentional departure from the lane, then it sends control signals to the control unit 103, which cause the control unit 103 to adjust the light output of the lighting device 101 of the vehicle 201.
  • the standard light distribution 202 generated by the headlights 102L, 102R is pivoted.
  • the pivoting preferably takes place about an axis that runs essentially perpendicular to the roadway plane through the front of the vehicle 201.
  • the pivoting direction is determined on the vehicle side, where the vehicle 201 approaches a lane marking or on which it passes over the lane marking. In this case, pivoting to the right preferably takes place when the vehicle 201 approaches or passes over the left-hand lane marking.
  • pivoting to the left preferably occurs when the vehicle 201 approaches the right-hand lane marking or passes over the right-hand lane marking.
  • the swivel angle may be determined from the distance between the vehicle 201 and the corresponding lane mark or from the angle that the vehicle longitudinal axis assumes with respect to the relevant lane mark. This angle can be determined by the evaluation module 113 on the basis of the images recorded by means of the camera. In one embodiment, the pivoting angle amounts to just the angle between the vehicle longitudinal axis and the lane marking.
  • FIG. 11 shows, by way of example, a swiveled light distribution 1101 which can be adjusted when the vehicle 201 approaches a lane 1103 at an angle of the boundary 1102.
  • the tilted light distribution is shown in FIG. 11 in comparison with the standard light distribution 201.
  • the light distribution may also be provided to increase the light intensity in the region of the current lane of the vehicle 201 with respect to the light intensity in the remaining regions of the light distribution. This is done by increasing the light intensity in the area of the lane and / or by reducing the light intensity in the other areas.
  • the above-described adaptation of the light distribution generated by the headlights 102L, 102R it can be achieved that this does not follow the unintended steering movements of the vehicle operator, but continues to illuminate the current lane of the vehicle 201 with a high light intensity. This typically results in the driver correcting and / or reducing the unintended steering movements following the light distribution.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

L'invention concerne un procédé d'ajustement d'un véhicule (201) comprenant au moins un dispositif d'assistance, produisant un indicateur de conduite concernant une manoevre de conduite devant être réalisée par le conducteur du véhicule. Le procédé se caractérise en ce que l'indicateur de conduite est utilisé pour ajuster une distribution lumineuse générée par un dispositif d'éclairage (101) du véhicule (201) et/ou une zone de détection d'au moins un capteur périphérique du véhicule (201). L'invention concerne en outre un système apte à la réalisation du procédé.
PCT/EP2008/067395 2007-12-13 2008-12-12 Procédé et système d'ajustement d'un véhicule WO2009074671A1 (fr)

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DE102007060601.1 2007-12-13
DE102007060601 2007-12-13
DE102008061747A DE102008061747A1 (de) 2007-12-13 2008-12-12 Verfahren und System zum Anpassen eines Fahrzeugs
DE102008061747.4 2008-12-12

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