WO2009109244A2 - Système de sécurité coopératif pour véhicules automobiles - Google Patents

Système de sécurité coopératif pour véhicules automobiles Download PDF

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Publication number
WO2009109244A2
WO2009109244A2 PCT/EP2008/065430 EP2008065430W WO2009109244A2 WO 2009109244 A2 WO2009109244 A2 WO 2009109244A2 EP 2008065430 W EP2008065430 W EP 2008065430W WO 2009109244 A2 WO2009109244 A2 WO 2009109244A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
warning
security system
information
module
Prior art date
Application number
PCT/EP2008/065430
Other languages
German (de)
English (en)
Other versions
WO2009109244A3 (fr
Inventor
Uwe Beutnagel-Buchner
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2009109244A2 publication Critical patent/WO2009109244A2/fr
Publication of WO2009109244A3 publication Critical patent/WO2009109244A3/fr

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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
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc

Definitions

  • the invention relates to a cooperative safety system for motor vehicles, with a warning module and a transmitter for the transmission of warning information to other road users.
  • Cooperative safety systems are understood to be systems that are formed by signal processing and communication devices installed in vehicles of several road users and that are capable of exchanging safety-related information about the traffic situation with one another.
  • DE 39 41 402 Al a system of this type is described in which information about the state of motion of a motor vehicle to another vehicle, in particular a subsequent vehicle is sent, so that the succession traffic can be warned of traffic congestion or other stagnation of traffic flow. The system of the following vehicle may then forward the information to the next succeeding vehicle. Disclosure of the invention
  • the object of the invention is to provide a cooperative security system for motor vehicles, which allows a further improvement of traffic safety.
  • the cooperative security system with a predictive safety system is combined, which has an environment sensor and a detection module for detecting an immediate risk of collision, and that the warning module is adapted to to send information provided by the detection module about the risk of collision as warning information.
  • PSS predictive safety system
  • Predictive Safety Systems are known as such.
  • An example is described in DE 10 2005 008 715.
  • the countermeasure in the simplest case, is the issuing of a warning signal to the driver, but may also include automatic system responses, such as pre-charging the brake system to allow any required emergency braking to be initiated more quickly, through to automatic triggering of an emergency braking operation by the system.
  • the environment sensor system usually comprises a long-range radar or Lidarsensor, which is also used for a distance control function and is able to the distance and the Relative speed and with limited accuracy to measure the azimuth angle of preceding objects, in particular vehicles in front.
  • the sensors may also include additional sensors such as short-range radar sensors or proximity sensors, video and image processing systems, and the like.
  • the recognition module receives information that allows it, in combination with data about the own vehicle, in particular the airspeed and the yawing motion, which also allow a prediction of the own driving course, to assess the probability of a collision with another vehicle. to estimate the possibilities, to avert the collision and, if necessary, to calculate the estimated time to impact. These data are then transmitted to a reaction module, which triggers the corresponding system reactions.
  • the invention combines the known cooperative security system with such a PSS system.
  • the main advantage is that warnings of an imminent accident can be transmitted much faster to the successor traffic and beyond the content of the warning information is more meaningful.
  • the warning information could be sent only when it had been detected by means of suitable sensors such as brake pedal sensors or the like that the driver had actually pressed the brake pedal.
  • the dispatch of the warning information to the follow-up traffic was thus at least delayed by the reaction time of the driver and by the response time of the sensors.
  • the fact that the driver operates the brake does not necessarily mean that there is really an acute risk of collision.
  • the driver brakes only because he wants to correct the distance to the front vehicle because he wants to turn or for any other reasons. So that unnecessary false warnings are avoided, therefore, the conventional system had to be designed so that the warning message was made only when a certain brake actuation force is exceeded.
  • the transmission of the warning information is preferably carried out with the aid of a radio system, such as a proprietary (specially designed for this purpose) radio system, a standardized radio gateway for radio traffic from vehicle to vehicle or from vehicle to infrastructure, or even a suitable standard of a mobile phone system. Due to the relatively large range of this radio system, such as a proprietary (specially designed for this purpose) radio system, a standardized radio gateway for radio traffic from vehicle to vehicle or from vehicle to infrastructure, or even a suitable standard of a mobile phone system. Due to the relatively large range of this
  • the invention proposes a solution that relies on the sending system together with the warning information sends an identifier that uniquely identifies the sending vehicle for the receiving system. Accordingly, a module is provided on the receiver side, which allows the identification of the immediately preceding vehicle based on the identifier, so that it can be determined whether the warning information comes from the immediately preceding vehicle.
  • the transmitted identifier is the vehicle registration number of the sending vehicle contains.
  • the identification module on the receiver side can then, for example, in a camera system with associated image evaluation system including optical
  • This additional data channel is preferably an optical channel which operates with visible light, for example the light of an LED in the tail light or in the brake light or a special LED of the preceding vehicle or with infrared light of a corresponding infrared transmitter.
  • a strong (backward) but weak radio transmitter can be used as an additional channel.
  • the environment sensor system of the PSS system is also available for the cooperative system, with which in particular the proper movements of the immediately preceding vehicle can be tracked, one can also use the proper movements to identify the vehicle in front.
  • the sending system will then send the identifier not only together with the warning information but continuously or at certain repetition intervals, without concrete cause, together with information about the respective airspeed and possibly transverse or steering movements of the own vehicle.
  • the receiving system can then match this movement data with the measured by its own radar sensor movement data for the vehicle ahead and then save the sent identifier as the identifier of the preceding vehicle. If, in the event of a collision, the warning information is then received together with the identifier, then it is clear that the information originates from the immediately preceding vehicle.
  • a vehicle identifier permanently or periodically in combination with the current position coordinates of the transmitting vehicle.
  • evaluating a sequence of a plurality of sets of coordinates statistical measurement errors can be averaged out so that the preceding vehicle can be relatively reliably identified over the course of time on the basis of the coordinate data.
  • the stored identifier then allows again to recognize immediately upon receipt of the warning information that the information comes from the vehicle in front.
  • the invention also makes it possible to identify the immediately preceding vehicle in the event of an abrupt braking or steering maneuver on the basis of the data supplied by the radar sensor. Although this identification is not possible immediately upon receipt of the warning information, but only when the driver or the system responds and actually performs a corresponding maneuver, but thus opens up the possibility of receiving the warning information, even if it is not certain that they are from Immediately preceding vehicle comes to initiate preventive measures, such as a Vorbehellung the wheel brake cylinder, a preventive limitation of the speed or at least the positive acceleration and the like, so measures that do not affect the ride comfort, and then initiate more serious measures, as soon as the measuring data of the radar sensor confirms the maneuver of the preceding vehicle.
  • preventive measures such as a Vorbehellung the wheel brake cylinder, a preventive limitation of the speed or at least the positive acceleration and the like, so measures that do not affect the ride comfort
  • FIG. 1 is a block diagram of a security system according to the invention in a motor vehicle
  • Fig. 2 shows an example of the content of a warning message sent by the security system
  • FIG. 3 shows a sketch of a system for identifying an immediately preceding vehicle
  • FIG. 4 is a sketch analogous to FIG. 3, for a
  • Fig. 1 is a block diagram of a cooperative security system 10 is shown, which is installed in a motor vehicle.
  • Essential components of this system are a self-sensor system 12 for the acquisition of data about the own vehicle, a warning module 16, which is formed by suitable hardware and / or software in an electronic data processing system and serves the purpose of evaluate the data supplied to the self-sensor system and, based on this data, a warning message for the following
  • a transmitter 18 preferably a radio transmitter that sends the warning information.
  • the transmitted signal is preferably directed towards the rear, so that it can be received primarily by following vehicles, but usually not by preceding vehicles.
  • the range can be several hundred meters or more.
  • the self-sensor system 12 may include various sensors for detecting dynamic data of the vehicle and / or maneuvers of the driver, for example, arranged on the steering shaft rotation sensor for detecting steering movements of the vehicle, a brake pedal sensor for detecting actuations of the brake pedal by the driver, a brake pressure sensor in Brake system, a yaw rate sensor and the like.
  • the self-sensor system 12 can also be an electronic stability system (ESP) of the vehicle can be expected, which also provides dynamic data such as driving speed, wheel speeds, yaw rate and the like, but can also provide information about the road conditions, for example on the friction coefficient (ice slipperiness).
  • ESP electronic stability system
  • the warning module 16 decides whether and when a warning message is to be sent to the follow-up traffic and what content this message should have. For example, a warning message is sent when the driver operates the brake pedal very violently, indicating an intentional emergency braking. Likewise, a warning message in a violent steering maneuver can be sent, because then it can be assumed that the Driver tries to avoid an obstacle. Even with certain dangerous situations, which are detected by the self-sensor, such as road surface smoothness, a warning can be sent.
  • a component of the cooperative security system is also a receiver 20, with which the signals of the transmitter 18 of a preceding vehicle are received.
  • the response to the receipt of a warning by the receiver 20 in the simplest case is that an audible, visual or haptic warning is issued to the driver of the receiving vehicle.
  • a predictive security system (PSS) 22 is integrated.
  • This system comprises a front-end sensor system 24, which is formed in particular by a vehicle-mounted long-range radar sensor for monitoring the apron of the vehicle.
  • a video camera with associated image evaluation system is provided.
  • Other sensory components can also be provided, for example short-range radar sensors or ultrasound sensors for the near range, lidar sensors, optical detectors and the like.
  • the data from the apron sensor system, in particular the long-range radar sensor are also used by an adaptive cruise control (ACC) system with which the speed of the vehicle or the distance to the vehicle ahead is automatically controlled.
  • ACC adaptive cruise control
  • a detection module 26 For the evaluation of the data of the apron sensor system in the context of the PSS system, a detection module 26 is provided, which, as usual in PSS system, based on the location data of the apron sensor and The dynamic data of the own vehicle calculates whether a collision with a pre-located obstacle is imminent and how much time (TTC) remains until the expected impact.
  • a response module 28 triggers an appropriate response of the PSS system, such as issuing a warning to the driver, pre-charging the brake system to increase brake ready, activating or pre-activating pretensioners, airbags, and the like passive safety systems, or possibly an automatic emergency braking operation.
  • the selected reaction is then implemented by the vehicle's own actuators 30.
  • these actuators 30, as far as they engage in the longitudinal and / or transverse guidance of the vehicle, monitored by the self-sensor 12. If, for example, an automatic emergency braking process is triggered by the reaction module 28, then the operation of the brake is detected by the own sensor system 12 and reported to the warning module 16, which then causes the dispatch of a warning to the follow-up traffic.
  • the detection module 26 is able to transmit a corresponding message to the warning module 16 immediately upon detection of a risk of collision, ie virtually simultaneously with the message to the reaction module 28.
  • the detection module 26, the reaction module 28 and the warning module 16 anyway be formed by appropriate software modules, the run on the same data processing system. Due to the direct connection between the detection module 26 and the warning module 16, a warning is thus sent as soon as the risk of collision has been detected, and even before about the actuators 30 any reactions were triggered in their own vehicle, which can then be detected by the self-sensor 12.
  • the warning sent on the basis of the message from the recognition module 26 may also include the information that the sending vehicle is about to become involved in a collision. This benefits the receiving system, at least if it is the immediately following vehicle, that also for this vehicle acute danger of collision exists and therefore appropriate measures should be initiated or at least prepared.
  • the information provided by the self-sensor 12 information about the actual steering or braking maneuver can also be sent via the warning module 16, but this message is then only as confirmation and, if the maneuver is continued, affirming the previous collision warning.
  • the receiver 20 in Fig. 1 is also capable of communicating with the detection module 26 so that a collision warning received from the receiver 20 from a preceding vehicle can be evaluated in the detection module 26 and optionally via the response module 28 triggers a reaction of the PSS system.
  • movement data about the immediately preceding vehicle may confirm the collision warning received by the receiver 20 and the maneuvers subsequently triggered in the preceding vehicle.
  • the range of the transmitter 18 is significantly greater than the average distance between two vehicles, the relevance of the warning received by the receiver 20 is dependent on whether the collision warning originates from the immediately preceding vehicle or from a further ahead driving vehicle.
  • the response of the PSS system should be more or less vigorous or entirely absent.
  • an identification module 34 which serves to verify whether it is the vehicle that has sent the collision warning, the immediately preceding vehicle.
  • the identification module 34 can access the apron sensor system 24.
  • FIG. 2 shows an example of the content of a warning information 35 sent by the transmitter 18 or received by the receiver 20.
  • This warning information 35 initially includes the triggering event.
  • This event may be that the detection module 26 of the transmitting system has detected a risk of collision.
  • the triggering event may be that the self-sensor system 12 has detected a driver's steering or braking intervention that is so severe that it indicates the driver's intention to control an emergency situation.
  • the triggering event can also be that the receiver 20 of the transmitting system in turn a Received warning message from a preceding vehicle.
  • the sent warning message also conveys the indication of the triggering event that was contained in the received message.
  • the warning information 35 includes a self-identification identifier of the vehicle that transmits this warning information.
  • This identifier can be, for example, the police license plate of the vehicle.
  • the warning information 35 also contains the geographical coordinates of the transmitting vehicle determined by a satellite-based navigation system. If the triggering event was a warning message received from a forward vehicle, the coordinates of that front vehicle, that is, the originator of the received warning message, are also indicated.
  • the warning information 35 in this case still contains a generation number indicating how many stations the warning message has already been passed from vehicle to vehicle. If, in the received warning message, a collision risk detected by the sending system itself was specified as the triggering event, then the generation number in the warning information 35 receives the value 1. If, in the received warning message, there is again a received warning message with the generation number as the triggering event i was given, so gets the
  • Generation number in the sent warning information 35 the value i + 1. In this way, the generation number can be determined by how many "switching stations" this information has already gone. All of this information can now be used by the identification module 34 in a number of different ways to decide whether the warning information 35 received by the receiver 20 originates from the immediately preceding vehicle or from a vehicle further away.
  • FIG. This figure shows the front of a vehicle 36 and the rear of a vehicle in front 38. Both vehicles are equipped with the safety system 10 of FIG.
  • Apron sensors (shown in the vehicle 36) includes not only a radar sensor 40 and a camera or video camera 42 with associated Schmaustechnischs- and
  • the police license plate on the license plate 44 of the immediately preceding vehicle 38 can be read. Since the warning information 35 also contains this police license number in coded form, it can be decided by comparing the license plates whether the received warning information originates from the immediately preceding vehicle 38.
  • FIG. 4 Another possibility is shown in FIG. 4.
  • the vehicle-specific identifier of the vehicle 38 which is contained in the warning information 35, for example the police registration number, is coded by the control device 46 as a modulation signal with which the tail lights 48, preferably LED taillights, are actuated.
  • the Modulation frequency can be so high that no flickering of the taillights is recognizable to the human eye, but the modulation for the camera 42 can be seen, which demodulates the signal and decrypted, so that the identifier in turn are compared with the identifier contained in the warning information can.
  • the optical channel according to FIG. 4 can also be constructed with a special LED light source or with one or more infrared light sources.
  • the camera 42 would have to be supplemented or replaced by an infrared sensor.
  • the warning module 16 sends the self-identification and own GPS coordinates not only together with the warning information 35 when a triggering event occurs, but constantly or periodically.
  • the received systems in the subsequent vehicles have the ability to match the transmitted GPS position with their own position to determine how far the transmitter is from the receiving vehicle.
  • the sent identifiers then allow to identify the vehicle immediately ahead in its own lane.
  • the constantly or periodically sent identifier contains not only the vehicle registration number or a comparable identifier, but also a log of the last movement data of the transmitting vehicle.
  • the protocol would then include, for example, the airspeed of the transmitting vehicle, and also when cornering
  • Transverse speed which can be derived from yaw rate data, steering angle or integration from the data of a lateral acceleration sensor.
  • the radar sensor 40 of the vehicle 36 measures the location data of the preceding vehicle 38 and records them in a so-called tracking procedure
  • the movement data sent with the protocol can be compared with the positioning data measured by the radar sensor.
  • the absolute speed of the vehicle 38 is to be converted into the relative speed measured by the radar sensor on the basis of the intrinsic speed of the vehicle 36.
  • this identifier can be stored as an identifier for the immediately preceding vehicle. If a real warning message is then sent when the risk of collision is detected, the vehicle can be immediately identified on the basis of the sent identifier as the directly preceding vehicle 38, without the movement data having to be reconciled again.
  • the sent Warning information 35 does not come from the immediately preceding vehicle, but from a vehicle ahead, so it will not only be received by the own vehicle 36, but also by the preceding vehicle 38, which then immediately forward the message by itself a corresponding Warning information 35 with indication of the generation number sends. If there are more vehicles between the first transmitting and the receiving vehicle, a corresponding message will be received by each of these vehicles, each with a different generation number. In this way, it is possible to estimate how many vehicles are still between the sending vehicle and the receiving vehicle, and from this information, the relevance of the warning information can be assessed.
  • the required information about the relevance is available immediately after the first warning message has been received. If, on the other hand, only a single warning message without a generation number is received, then it can be concluded that the warning information originates from the immediately preceding vehicle 38.
  • the self-identification is sent not only together with the warning information 34, but spontaneously, each after a certain time interval. If these too
  • Identification messages are then forwarded to subsequent vehicles with specification of the generation number, then the identifications received by a vehicle can be brought into an order on the basis of the generation numbers Order of the preceding vehicles corresponds, and it can be stored for each of these vehicles, the corresponding self-identification (identifier). If then from any of the vehicles a real collision warning arrives, can be estimated on the basis of the identifier, where in the column, the sending vehicle is located.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système de sécurité coopératif pour véhicules automobiles, comprenant un module d'avertissement (16) et un émetteur (18) pour la transmission d'informations d'avertissement à un autre usager de la route. Ce système de sécurité coopérative est caractérisé en ce qu'il est combiné à un système de sécurité prédictive (PSS) (22), lequel comprend un système de capteurs environnementaux (24) et un module de détection (26) qui détecte un risque de collision immédiat, et en ce que le module d'avertissement (16) est conçu pour transmettre l'information de risque de collision fournie par le module de détection (26) s sous forme d'information d'avertissement.
PCT/EP2008/065430 2008-03-07 2008-11-13 Système de sécurité coopératif pour véhicules automobiles WO2009109244A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810013103 DE102008013103A1 (de) 2008-03-07 2008-03-07 Kooperatives Sicherheitssystem für Kraftfahrzeuge
DE102008013103.2 2008-03-07

Publications (2)

Publication Number Publication Date
WO2009109244A2 true WO2009109244A2 (fr) 2009-09-11
WO2009109244A3 WO2009109244A3 (fr) 2010-01-21

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DE (1) DE102008013103A1 (fr)
WO (1) WO2009109244A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9165198B2 (en) 2012-02-25 2015-10-20 Audi Ag Method for identifying a vehicle during vehicle-to-vehicle communication
US11091132B2 (en) 2019-04-12 2021-08-17 Bendix Commercial Vehicle Systems, Llc Delay autonomous braking activation due to potential forward turning vehicle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013021841B4 (de) * 2013-12-21 2018-01-25 Audi Ag Verfahren zum Zuordnen einer Betriebsinformation eines Fremd-Kraftfahrzeugs
WO2017003341A1 (fr) 2015-07-01 2017-01-05 Scania Cv Ab Procédé et système permettant d'alerter un conducteur dans un véhicule suiveur
DE102017202245B4 (de) 2017-02-13 2022-10-27 Audi Ag Kommunikationseinrichtung für ein autopilotgesteuertes Kraftfahrzeug zum adressierten Versenden von Koordinationssignalen an Kommunikationspartner

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EP0357963A2 (fr) * 1988-09-08 1990-03-14 Robert Bosch Gmbh Méthode et dispositif de transmission de données sans fil
US6278360B1 (en) * 1999-04-30 2001-08-21 Takata Corporation Vehicle collision warning system
DE102004062497A1 (de) * 2004-12-24 2006-07-13 Daimlerchrysler Ag Verfahren und Vorrichtung zur Reduzierung der Gefahr eines Auffahrunfalls
DE102005050720A1 (de) * 2005-10-22 2007-05-03 Daimlerchrysler Ag Verfahren und Vorrichtung zur Warnung nachfolgender Fahrzeuge bei frontal eskalierendem Längsverkehr

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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
DE102005008715A1 (de) 2005-02-25 2006-08-31 Robert Bosch Gmbh Radarsystem für Kraftfahrzeuge

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Publication number Priority date Publication date Assignee Title
EP0357963A2 (fr) * 1988-09-08 1990-03-14 Robert Bosch Gmbh Méthode et dispositif de transmission de données sans fil
US6278360B1 (en) * 1999-04-30 2001-08-21 Takata Corporation Vehicle collision warning system
DE102004062497A1 (de) * 2004-12-24 2006-07-13 Daimlerchrysler Ag Verfahren und Vorrichtung zur Reduzierung der Gefahr eines Auffahrunfalls
DE102005050720A1 (de) * 2005-10-22 2007-05-03 Daimlerchrysler Ag Verfahren und Vorrichtung zur Warnung nachfolgender Fahrzeuge bei frontal eskalierendem Längsverkehr

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9165198B2 (en) 2012-02-25 2015-10-20 Audi Ag Method for identifying a vehicle during vehicle-to-vehicle communication
US11091132B2 (en) 2019-04-12 2021-08-17 Bendix Commercial Vehicle Systems, Llc Delay autonomous braking activation due to potential forward turning vehicle

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DE102008013103A1 (de) 2009-09-10
WO2009109244A3 (fr) 2010-01-21

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