WO2010066394A2 - Monitoring device and method for monitoring blind spots of a vehicle - Google Patents

Monitoring device and method for monitoring blind spots of a vehicle Download PDF

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Publication number
WO2010066394A2
WO2010066394A2 PCT/EP2009/008714 EP2009008714W WO2010066394A2 WO 2010066394 A2 WO2010066394 A2 WO 2010066394A2 EP 2009008714 W EP2009008714 W EP 2009008714W WO 2010066394 A2 WO2010066394 A2 WO 2010066394A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
sensor
lateral
monitoring device
rear space
Prior art date
Application number
PCT/EP2009/008714
Other languages
German (de)
French (fr)
Other versions
WO2010066394A3 (en
Inventor
Eric Amiot
Original Assignee
Valeo Schalter Und Sensoren Gmbh
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Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2010066394A2 publication Critical patent/WO2010066394A2/en
Publication of WO2010066394A3 publication Critical patent/WO2010066394A3/en

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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
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area

Definitions

  • the invention relates to a monitoring device and a method for monitoring blind spot areas of a vehicle referred to in the preamble of claim 1 or 12 kind.
  • Such a monitoring device is known from DE 10 2005 027 653 Al.
  • the known monitoring device comprises a sensor device in order to detect objects in the rear lateral blind spot area of a vehicle and to warn the driver of an imminent collision with such an object in the event of a lane change.
  • the sensor arrangement comprises two radar sensors, each arranged in a left or right corner region of the vehicle rear, with a detection area which covers a left or right area of the rear space and a side space of the vehicle adjoining thereto.
  • the detection areas are arranged so that they overlap in the central region of the vehicle rear space.
  • the known monitoring device comprises a comparison device in order to detect on the basis of predefined correlations of the two sensor signals whether the detected object is an overtaking vehicle in the blind spot or around is a follower vehicle that follows the vehicle equipped with the monitoring device in the same lane.
  • the known monitoring device is relatively expensive and expensive when equipped with two radar sensors.
  • the embodiment with a wheel sensor and the rear ultrasonic sensors is relatively inexpensive.
  • this has the disadvantage that a reliable monitoring is guaranteed only in the left blind spot area of the vehicle.
  • the object of the invention is to develop a device and a method referred to in the preamble of claim 1 or 12 to the effect that with reliable monitoring of the blind spot areas on both sides of the vehicle a particularly simple and cost-saving design of the monitoring device is made possible.
  • the advantage achieved with the invention is that, in addition to the at least one rear space sensor, a left and a right side sensor is provided for reliable monitoring of the left and right side space.
  • the lateral sensors arranged in the lateral distance to the rear space sensor can have a particularly simple and cost-effective design, since a smaller range is generally sufficient for monitoring the side space than for monitoring the rear space.
  • a rear space sensor can be provided in a particularly simple and reliable radar sensor, in particular as a multi-beam Radar sensor is designed to allow a particularly large Detek- tion area.
  • the rear space sensor is preferably arranged approximately in the vehicle transverse direction approximately in the middle of the rear area and has a mirror-symmetrical to the vehicle longitudinal direction formed detection area.
  • the lateral sensors can each be arranged on a left or right side wall of the vehicle.
  • the two lateral sensors are preferably arranged in the rear area of the associated side wall, ie. H. especially in an area behind a B-pillar of the side wall.
  • the detection areas of the lateral sensors in the vehicle longitudinal direction can be arranged at a longitudinal distance in front of the detection area of the rear-space sensor.
  • the lateral sensors can be designed as particularly cost-effective ultrasonic sensors. Alternatively, but also z. As infrared sensors or a side camera with an image processing device for object detection may be provided.
  • the lateral sensors can be designed to detect a lateral boundary of the road in the driving state and thereby avoid a false warning due to reflection of the signals from the rear space sensor or lateral sensors at this boundary.
  • the lateral sensors can preferably be designed to measure a parking space arranged laterally next to the vehicle in a parking mode.
  • the lateral sensors then fulfill a dual function and can be used both for blind spot monitoring and for a parking aid.
  • 1 and 2 each show a schematic plan view of overtaking a vehicle.
  • FIGS. 1 and 2 overtaking operations of a vehicle 1 on a lane having a plurality of lanes are shown.
  • Trained as a passenger vehicle vehicle 1 has a monitoring device for two rear lateral blind spot areas Tl and T2.
  • blind areas Tl and T2 in this case a left and a right area in the vehicle environment meant that are not or at least not completely visible to the driver, as they each between the field of vision de driver when looking into an interior mirror and in the left and right mirrors of the vehicle 1 are arranged.
  • the monitoring device is configured to detect another vehicle 2 or 3 in the driving state of the vehicle 1, in the blind spot area T1 or T2 of the monitored vehicle 1, and when a lane change of the vehicle 1 a collision, z. B. by warning the driver to prevent.
  • the monitoring device For detecting vehicles in the blind spot area, the monitoring device comprises a sensor arrangement 10 which has a single rear space sensor 11 designed as a radar sensor and two lateral sensors 12 and 13 which are each designed as ultrasonic distance sensors.
  • the rear space sensor 11 and the lateral sensors 12 and 13 are each connected via a data line with an evaluation unit (not shown). connected direction, which processes the signals of the sensors 11 - 13, determines whether another vehicle 2 or 3 is located in a critical area and, if necessary. a warning to the driver of the vehicle 1 initiated.
  • separate control devices are provided for the sensors 11 - 13, which control the measurements of the sensors. These control devices can be designed to pre-process the measurement data and to convert the measurement data into a uniform data format. Alternatively, however, the evaluation device could also be designed to process measurement data of both the backspace sensor 11 and the lateral sensors 12 and 13.
  • the warning of the driver via a left and a right visual display device which is located at or near the left and right exterior mirror of the vehicle 1 and illuminates accordingly when the monitoring device, a vehicle 2 or 3 in the left Tl or right blind spot area T2 of the vehicle 1 has been detected.
  • the driver but also in other suitable manner z. B. be warned by acoustic or haptic signals.
  • the rear space sensor 11 is arranged at the rear end 6 of the vehicle 1 on a rear bumper in order to detect vehicles 2 or 3 in the rear space B of the monitored vehicle 1. Under rear space B here is a lying behind the vehicle 1 area of the vehicle environment to understand.
  • the rear space sensor 11 is arranged near the central longitudinal plane M of the vehicle 1 and has a circular segment-shaped detection region 14, which is formed approximately mirror-symmetrically to the central longitudinal plane B of the vehicle 1 and exclusively in the rear space B, d. H. behind the rear portion 6 of the vehicle 1, is arranged.
  • the circular-segment-shaped detection region 14 of the rear-space sensor 11 designed as a multi-beam radar sensor has an opening angle of approximately 150 degrees and an outer radius of approximately 150 degrees. at least 10 meters up.
  • the outer radius of the detection area 14 is preferably about 50 meters in order to detect vehicles approaching from the rear as early as possible and, in addition to the blind spot monitoring, also to allow a lane change assistance function of the monitoring device.
  • the radar sensor could be provided as a rear space sensor 11 and a camera in conjunction with an associated image processing object detection device, wherein the camera, z. B. by using a wide-angle lens, should have a correspondingly wide detection range.
  • the lateral sensors 12 and 13 are respectively arranged on a left 4 and right side wall 5 of the vehicle 1 on an associated side leg of the rear bumper and adapted to vehicles 2 or 3 in a left L and right side space R of the monitored vehicle 1 to capture.
  • the known per se known ultrasonic distance sensors sensors 12 and 13, as they are known for. B. are used for parking space measurement, each having a conical detection area 15 and 16 with a narrow opening angle and a range of about 4 - 10 meters, wherein the longitudinal axis of the conical detection area 15 and 16 extends substantially in the vehicle transverse direction and the detection areas 15 or 16 exclusively in the associated side space L or R, d. H. laterally next to the vehicle 1, are arranged.
  • the detection areas 15 and 16 of the two lateral sensors 12 and 13 are arranged without overlapping at a longitudinal distance in front of the detection area 14 of the rear space sensor 11.
  • the two lateral sensors 12 and 13 are designed to be used in addition to the environment monitoring for the measurement of parking spaces.
  • the two sensors 12 and 13 are connected to a not shown Parklückenmessein- direction.
  • This parking space measuring device can be integrated with the evaluation device of the environmental monitoring system. be direction. Alternatively, however, a separate parking space measuring device could also be provided.
  • the parking space measuring device may be part of a device for assisting the driver in a parking operation, which controls an autonomous or semi-autonomous parking operation of the vehicle 1 in the parking space after measuring the parking space by one of the two sensors 12 and 13 in a conventional manner.
  • the lateral sensors 12 and 13 can be operated in different measurement modes for this purpose, wherein for blind spot monitoring a monitoring mode with a lower sampling rate and greater range and parking space measurement a parking space measurement mode can be provided with higher sampling rate and shorter range.
  • the side sensors 12 and 13 could be operated in blind spot monitoring and parking space measurement but also in the same measurement mode.
  • the parking space measurement is activated by a corresponding selection of the driver on an operating device or automatically by means of parameters such. B. the driving speed, through the parking space measuring device. Before activation of the parking space measuring device, the monitoring device is then optionally automatically deactivated.
  • Figs. 1 and 2 show the monitored vehicle 1 on a two-lane road, such.
  • the monitored vehicle 1 runs on a right lane and is overtaken by a moving on a left lane at a faster speed vehicle 3.
  • the rear space B of the monitored vehicle 1 also drives on the right lane another vehicle 2, which follows the monitored vehicle 1 as a so-called follower vehicle with approximately the same speed in a longitudinal distance.
  • the overtaking vehicle 3 approaches the monitored vehicle 1 from behind, it first becomes the rear space sensor
  • the evaluation device determines whether the detected object is a vehicle overtaking on an adjacent traffic lane or following a vehicle on the same traffic lane, such as a vehicle. Subsequently, the evaluation device continuously determines the position of the overtaking vehicle 11 on the basis of the data of the rear space sensor 11 and activates the warning signal of the right display device as soon as the vehicle 3 with its front area in the left blind spot area Tl monitored vehicle 1 occurs.
  • the position of the blind spot areas T1 and T2 is stored in the evaluation device.
  • the vehicle 3 shows the overtaking vehicle 3 in the left blind spot area T1 in an intermediate position in which the vehicle 3 is located exclusively in the detection area 14 of the rear space sensor 11 and is thus only detected by the latter.
  • the vehicle 3 then moves forward, as indicated by the arrow in FIG. 1, relative to the monitored vehicle 1 and finally enters the detection area 15 of the left lateral sensor 11 with its front area.
  • FIG. 2 shows a further intermediate position, in which the rear region of the overtaking vehicle 3 from the rear space sensor 11 and the front region from the left lateral sensor
  • the warning signal of the right display device is deactivated.
  • the said description is corresponding mirror-inverted transferable to an overtaking operation, in which the vehicle 1 is overtaken in a right lane of a vehicle.
  • the outdated vehicle In an own overtaking operation of the monitored vehicle 1, d. H. an overtaking operation in which the monitored vehicle 1 another vehicle with higher speed z. B. overtaken on a left lane, the outdated vehicle first enters the detection area 16 of the right side sensor 13 a.
  • the warning signal for the right blind spot area T2 is initiated in this case by a detection of the right lateral sensor 13.
  • the outdated vehicle In the course of the further overtaking process, the outdated vehicle then enters the detection area 14 of the rear space sensor 11 with its rear end, subsequently exits the detection area 16 of the lateral sensor 13 with its front area and moves further back relative to the monitored vehicle 1.
  • the position of the reconditioned vehicle is then continuously measured by the rear space sensor 11, the evaluation device determining from the distance and angle information of the rear space sensor 11 when the vehicle has left the blind spot area T2.
  • the warning signal is then deactivated accordingly.
  • the laterally approaching vehicle depending on the relative longitudinal position - either first detected by the rear space sensor 11 or the adjacent lateral sensor 12 and 13 respectively.
  • the evaluation device determines whether the vehicle is in the blind spot range T1 or T2 and activates the corresponding warning signal. Subsequently, the position of the adjacent vehicle is continuously measured, the warning signal remains activated as long as it is determined based on the measurement data of the sensors 11, 12 and 13 that the vehicle is in the blind spot range Tl or T2.
  • the warning strategy of the monitoring device can be described such that a warning is always activated if at least one of the two conditions a) or b) is fulfilled:
  • Vehicle is at least partially detected by one of the lateral sensors 12 or 13.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a monitoring device for lateral blind spots (T1, T2) of a vehicle (1), comprising a sensor array (10) for sensing moving objects (vehicles 2, 3) in the driving state in a space behind (B) and to the left (L) and right (R) of the vehicle (1). Said sensor array (10) includes at least one rear space sensor (11) which is arranged in the rear zone (6) of the vehicle (1), and the sensing range (14) of which at least partly covers the space behind (B) the vehicle (1). In order to be able to design the monitoring device in a particularly simple and inexpensive manner while reliably monitoring the blind spots (T1, T2) on both sides of the vehicle, the sensor array (10) includes two lateral sensors (12, 13) which are arranged at a lateral distance from the rear space sensor (11), and the sensing ranges (15, 16) of which at least partly cover the space to the left (L) and right (R) of the vehicle (1), respectively.

Description

Überwachungseinrichtung und Verfahren zur Überwachung für Totwinkelbereiche eines Fahrzeugs Monitoring device and method for monitoring blind spot areas of a vehicle
Die Erfindung betrifft eine Überwachungseinrichtung und ein Verfahren zur Überwachung für Totwinkelbereiche eines Fahrzeugs der im Oberbegriff des Anspruchs 1 bzw. 12 genannten Art.The invention relates to a monitoring device and a method for monitoring blind spot areas of a vehicle referred to in the preamble of claim 1 or 12 kind.
Eine solche Überwachungseinrichtung ist aus der DE 10 2005 027 653 Al bekannt. Die bekannte Überwachungseinrichtung ura- fasst eine Sensoreinrichtung, um Objekte im hinteren seitlichen Totwinkelbereich eines Fahrzeugs zu detektieren und den Fahrer bei einem Spurwechsel vor einer drohenden Kollision mit solchen Objekt zu warnen. Die Sensoranordnung umfasst dabei zwei jeweils in einem linken bzw. rechten Eckbereich des Fahrzeughecks angeordnete Radarsensoren mit einem Detek- tionsbereich, welcher einen linken bzw. rechten Bereich des Rückraums sowie einen daran angrenzenden Seitenraum des Fahrzeugs abdeckt. Die Detektionsbereiche sind dabei so angeordnet, dass sie sich im Mittelbereich des Fahrzeug-Rückraums überschneiden. Alternativ wird vorgeschlagen, den rechten Radarsensor durch eine Anordnung von Ultraschallsensoren zu ersetzen, die zugleich Teil eine Parkhilfesystems des Fahrzeugs sind.Such a monitoring device is known from DE 10 2005 027 653 Al. The known monitoring device comprises a sensor device in order to detect objects in the rear lateral blind spot area of a vehicle and to warn the driver of an imminent collision with such an object in the event of a lane change. In this case, the sensor arrangement comprises two radar sensors, each arranged in a left or right corner region of the vehicle rear, with a detection area which covers a left or right area of the rear space and a side space of the vehicle adjoining thereto. The detection areas are arranged so that they overlap in the central region of the vehicle rear space. Alternatively, it is proposed to replace the right-hand radar sensor with an array of ultrasonic sensors which are at the same time part of a parking assist system of the vehicle.
Die bekannte Überwachungseinrichtung umfasst eine Vergleichs - einrichtung, um anhand vordefinierte Korrelationen der beiden Sensorsignale zu erkennen, ob es sich bei dem detektierten Objekt um ein überholendes Fahrzeug im toten Winkel oder um ein Folgefahrzeug handelt, dass dem mit der Überwachungseinrichtung ausgestatteten Fahrzeug in der selben Fahrspur folgt.The known monitoring device comprises a comparison device in order to detect on the basis of predefined correlations of the two sensor signals whether the detected object is an overtaking vehicle in the blind spot or around is a follower vehicle that follows the vehicle equipped with the monitoring device in the same lane.
Die bekannte Überwachungseinrichtung ist bei Ausstattung mit zwei Radarsensoren verhältnismäßig aufwändig und kostenintensiv. Demgegenüber ist die Ausführung mit einem Radsensor und den hinteren Ultraschallsensoren vergleichsweise kostengünstig. Diese hat jedoch den Nachteil, dass eine zuverlässige Überwachung nur im linken Totwinkelbereich des Fahrzeugs gewährleistet ist.The known monitoring device is relatively expensive and expensive when equipped with two radar sensors. In contrast, the embodiment with a wheel sensor and the rear ultrasonic sensors is relatively inexpensive. However, this has the disadvantage that a reliable monitoring is guaranteed only in the left blind spot area of the vehicle.
Aufgabe der Erfindung ist es, eine Vorrichtung und ein Verfahren der im Oberbegriff des Anspruchs 1 bzw. 12 genannten Art dahingehend weiterzuentwickeln, dass bei zuverlässiger Überwachung der Totwinkelbereiche auf beiden Fahrzeugseiten eine besonders einfache und kostensparende Ausführung der Überwachungseinrichtung ermöglicht wird.The object of the invention is to develop a device and a method referred to in the preamble of claim 1 or 12 to the effect that with reliable monitoring of the blind spot areas on both sides of the vehicle a particularly simple and cost-saving design of the monitoring device is made possible.
Diese Aufgabe wird erfindungsgemäß durch eine Überwachungs- vorrichtung gemäß Anspruch 1 sowie ein Verfahren gemäß Anspruch 12 gelöst. Weitere die Erfindung in vorteilhafter Weise ausgestaltende Merkmale enthalten die Unteransprüche.This object is achieved by a monitoring device according to claim 1 and a method according to claim 12. More embodying the invention in an advantageous manner features include the dependent claims.
Der mit der Erfindung erzielte Vorteil besteht darin, dass zusätzlich zu dem wenigstens einem Rückraumsensor ein linker und ein rechter seitlicher Sensor zur zuverlässigen Überwachung des linken bzw. rechten Seitenraums vorgesehen ist. Die im seitlichen Abstand zum Rückraumsensor angeordneten seitlichen Sensoren können dabei eine besonders einfache und kostengünstige Bauweise aufweisen, da zur Überwachung des Seitenraums in der Regel eine geringere Reichweite als zur Überwachung des Rückraums ausreicht.The advantage achieved with the invention is that, in addition to the at least one rear space sensor, a left and a right side sensor is provided for reliable monitoring of the left and right side space. The lateral sensors arranged in the lateral distance to the rear space sensor can have a particularly simple and cost-effective design, since a smaller range is generally sufficient for monitoring the side space than for monitoring the rear space.
Als Rückraumsensor kann besonders einfach und zuverlässig ein Radarsensor vorgesehen sein, der insbesondere als Multi-Beam Radarsensor ausgebildet ist, um einen besonders großen Detek- tionsbereich zu ermöglichen.As a rear space sensor can be provided in a particularly simple and reliable radar sensor, in particular as a multi-beam Radar sensor is designed to allow a particularly large Detek- tion area.
Zur Überwachung des Rückraums kann besonders einfach und kostengünstig lediglich ein einziger Rückraumsensor vorgesehen sein. Der Rückraumsensor ist dabei vorzugsweise in Fahrzeugquerrichtung gesehen etwa in der Mitte des Heckbereichs angeordnet und weist einen spiegelsymmetrisch zur Fahrzeuglängsrichtung ausgebildeten Detektionsbereich auf.To monitor the rear space can be provided in a particularly simple and cost only a single rear space sensor. The rear space sensor is preferably arranged approximately in the vehicle transverse direction approximately in the middle of the rear area and has a mirror-symmetrical to the vehicle longitudinal direction formed detection area.
Zur besonders einfachen und zuverlässigen Überwachung des Seitenraums können die seitlichen Sensoren jeweils an einer linken bzw. rechten Seitenwand des Fahrzeugs angeordnet sein. Um Objekte im Totwinkelbereich einfach und zuverlässig zu erfassen, sind die beiden seitlichen Sensoren dabei vorzugsweise im hinteren Bereich der zugehörigen Seitenwand angeordnet, d. h. insbesondere in einem Bereich hinter einer B-Säule der Seitenwand.For particularly simple and reliable monitoring of the side space, the lateral sensors can each be arranged on a left or right side wall of the vehicle. In order to detect objects in the blind spot area simply and reliably, the two lateral sensors are preferably arranged in the rear area of the associated side wall, ie. H. especially in an area behind a B-pillar of the side wall.
Um in einfacher und zuverlässiger Weise festzustellen, wann Fahrzeuge aus dem Detektionsbereich des Rückraumsensors austreten oder in diesen eintreten, können die Detektionsberei- che der seitlichen Sensoren in Fahrzeuglängsrichtung gesehen in einem Längsabstand vor dem Detektionsbereich des Rückraumsensors angeordnet sein.In order to determine in a simple and reliable manner when vehicles emerge from or enter the detection area of the rear-space sensor, the detection areas of the lateral sensors in the vehicle longitudinal direction can be arranged at a longitudinal distance in front of the detection area of the rear-space sensor.
Die seitlichen Sensoren können als besonders kostengünstige Ultraschallsensoren ausgebildet sein. Alternativ könnten aber auch z. B. Infrarotsensoren oder eine seitliche Kamera mit einer Bildverarbeitungseinrichtung zur Objekterkennung vorgesehen sein.The lateral sensors can be designed as particularly cost-effective ultrasonic sensors. Alternatively, but also z. As infrared sensors or a side camera with an image processing device for object detection may be provided.
Die seitlichen Sensoren können dazu ausgebildet sein, im Fahrzustand eine seitliche Begrenzung der Fahrbahn zu erkennen und dadurch eine Fehlwarnung aufgrund Reflektion der Signale von Rückraumssensor oder seitlichen Sensoren an dieser Begrenzung zu vermeiden. Vorzugsweise können die seitlichen Sensoren dazu ausgebildet sein, in einem Parkmodus eine seitlich neben dem Fahrzeug angeordnete Parklücke zu vermessen. Die seitlichen Sensoren erfüllen dann eine Doppelfunktion und können sowohl zur Totwinkel -Überwachung als auch für eine Einparkhilfe verwendet werden.The lateral sensors can be designed to detect a lateral boundary of the road in the driving state and thereby avoid a false warning due to reflection of the signals from the rear space sensor or lateral sensors at this boundary. The lateral sensors can preferably be designed to measure a parking space arranged laterally next to the vehicle in a parking mode. The lateral sensors then fulfill a dual function and can be used both for blind spot monitoring and for a parking aid.
Nachfolgend wird ein Ausführungsbeispiel der Erfindung anhand einer zeichnerischen Darstellung näher erläutert.Hereinafter, an embodiment of the invention will be explained in more detail with reference to a drawing.
Dabei zeigen Fig. 1 und 2 jeweils in schematischer Draufsicht Überholvorgänge eines Fahrzeugs.1 and 2 each show a schematic plan view of overtaking a vehicle.
In Fig. 1 und 2 sind Überholvorgänge eines Fahrzeug 1 auf einer Fahrbahn mit mehreren Fahrspuren gezeigt. Das als Personenkraftwagen ausgebildete Fahrzeug 1 weist eine Überwachungseinrichtung für zwei hintere seitliche Totwinkelbereiche Tl und T2 auf. Mit Totwinkelbereiche Tl und T2 sind hierbei ein linker und ein rechter Bereich im Fahrzeugumfeld gemeint, die für den Fahrer nicht oder zumindest nicht vollständig einsehbar sind, da sie jeweils zwischen dem Sichtbereich de Fahrers bei Blick in einen Innenspiegel und in den linken bzw. rechten Außenspiegel des Fahrzeugs 1 angeordnet sind. Die Überwachungseinrichtung ist dazu ausgebildet, im Fahrzustand des Fahrzeug 1 ein anderes Fahrzeug 2 oder 3, im Totwinkelbereich Tl oder T2 des überwachten Fahrzeugs 1 zu erfassen und bei einem Spurwechsel des Fahrzeugs 1 eine Kollision, z. B. durch entsprechende Warnung des Fahrers zu verhindern.In FIGS. 1 and 2, overtaking operations of a vehicle 1 on a lane having a plurality of lanes are shown. Trained as a passenger vehicle vehicle 1 has a monitoring device for two rear lateral blind spot areas Tl and T2. With blind areas Tl and T2 in this case a left and a right area in the vehicle environment meant that are not or at least not completely visible to the driver, as they each between the field of vision de driver when looking into an interior mirror and in the left and right mirrors of the vehicle 1 are arranged. The monitoring device is configured to detect another vehicle 2 or 3 in the driving state of the vehicle 1, in the blind spot area T1 or T2 of the monitored vehicle 1, and when a lane change of the vehicle 1 a collision, z. B. by warning the driver to prevent.
Zur Erfassung von Fahrzeugen im Totwinkelbereich umfasst die Überwachungseinrichtung eine Sensoranordnung 10, die einen einzigen als Radarsensor ausgebildeten Rückraumsensor 11 sowie zwei seitliche Sensoren 12 und 13 aufweist, die jeweils als Ultraschallabstandssensor ausgebildet sind. Der Rückraumsensor 11 und die seitlichen Sensoren 12 und 13 sind jeweils über eine Datenleitung mit einer nicht gezeigten Auswerteein- richtung verbunden, welche die Signale der Sensoren 11 - 13 verarbeitet, feststellt ob ein anderes Fahrzeug 2 oder 3 in einem kritischen Bereich angeordnet ist und ggf . eine Warnung an den Fahrer des Fahrzeugs 1 initiiert. Zusätzlich zur Auswerteeinrichtung sind für die Sensoren 11 - 13 jeweils separate Steuergeräte vorgesehen, welche die Messungen der Sensoren steuern. Diese Steuergeräte können dazu ausgebildet sein, eine Vorverarbeitung der Messdaten vorzunehmen und die Mess- daten in ein einheitliches Datenformat umzuwandeln. Alternativ könnte aber auch die Auswerteeinrichtung dazu ausgebildet sein, Messdaten sowohl des Rückraumsensors 11 als auch der seitlichen Sensoren 12 und 13 zu verarbeiten.For detecting vehicles in the blind spot area, the monitoring device comprises a sensor arrangement 10 which has a single rear space sensor 11 designed as a radar sensor and two lateral sensors 12 and 13 which are each designed as ultrasonic distance sensors. The rear space sensor 11 and the lateral sensors 12 and 13 are each connected via a data line with an evaluation unit (not shown). connected direction, which processes the signals of the sensors 11 - 13, determines whether another vehicle 2 or 3 is located in a critical area and, if necessary. a warning to the driver of the vehicle 1 initiated. In addition to the evaluation device, separate control devices are provided for the sensors 11 - 13, which control the measurements of the sensors. These control devices can be designed to pre-process the measurement data and to convert the measurement data into a uniform data format. Alternatively, however, the evaluation device could also be designed to process measurement data of both the backspace sensor 11 and the lateral sensors 12 and 13.
Die Warnung des Fahrers erfolgt über eine linke und eine rechte optische Anzeigeeinrichtung, die am oder nahe des linken bzw. rechten Außenspiegels des Fahrzeugs 1 angeordnet ist und entsprechend aufleuchtet, wenn von der Überwachungs- einrichtung ein Fahrzeug 2 oder 3 im linken Tl oder rechten Totwinkelbereich T2 des Fahrzeugs 1 erfasst wurde. Alternativ kann der Fahrer aber auch in anderer geeigneter Weise z. B. durch akustische oder haptische Signale gewarnt werden.The warning of the driver via a left and a right visual display device, which is located at or near the left and right exterior mirror of the vehicle 1 and illuminates accordingly when the monitoring device, a vehicle 2 or 3 in the left Tl or right blind spot area T2 of the vehicle 1 has been detected. Alternatively, the driver but also in other suitable manner z. B. be warned by acoustic or haptic signals.
Der Rückraumsensor 11 ist am Heckend 6 des Fahrzeugs 1 an einem Heckstoßfänger angeordnet, um Fahrzeuge 2 oder 3 im Rückraum B des überwachten Fahrzeugs 1 zu erfassen. Unter Rückraum B ist hierbei ein hinter dem Fahrzeug 1 liegender Bereich des Fahrzeugumfeldes zu verstehen. Der Rückraumsensor 11 ist nahe der Mittellängsebene M des Fahrzeugs 1 angeordnet und weist einen in der Draufsicht gesehen kreissegmentförmigen Detektionsbereich 14 auf, der etwa spiegelsymmetrisch zur Mittellängsebene B des Fahrzeugs 1 ausgebildet ist und ausschließlich im Rückraum B, d. h. hinter dem Heckbereich 6 des Fahrzeugs 1, angeordnet ist.The rear space sensor 11 is arranged at the rear end 6 of the vehicle 1 on a rear bumper in order to detect vehicles 2 or 3 in the rear space B of the monitored vehicle 1. Under rear space B here is a lying behind the vehicle 1 area of the vehicle environment to understand. The rear space sensor 11 is arranged near the central longitudinal plane M of the vehicle 1 and has a circular segment-shaped detection region 14, which is formed approximately mirror-symmetrically to the central longitudinal plane B of the vehicle 1 and exclusively in the rear space B, d. H. behind the rear portion 6 of the vehicle 1, is arranged.
Der kreissegmentförmige Detektionsbereich 14 des als Multi- Beam Radarsensors ausgebildeten Rückraumsensors 11, weist einen Öffnungswinkel von etwa 150 Grad und einen äußeren Ra- dius mindestens 10 Metern auf. Vorzugsweise beträgt der äußere Radius des Detektionsbereichs 14 etwa 50 Meter um sich von hinten annähernde Fahrzeuge möglichst frühzeitig zu erfassen und neben der Totwinkelüberwachung auch eine Spur-Wechsel - Assistenzfunktion der Überwachungseinrichtung zu ermöglichen. Anstelle des Radarsensors könnte als Rückraumsensor 11 auch eine Kamera in Verbindung mit einer zugehörigen Bild verarbeitenden Objekt -Erkennungseinrichtung vorgesehen sein, wobei die Kamera, z. B. durch Verwendung einer Weitwinkellinse, einen entsprechend breiten Detektionsbereich aufweisen sollte .The circular-segment-shaped detection region 14 of the rear-space sensor 11 designed as a multi-beam radar sensor has an opening angle of approximately 150 degrees and an outer radius of approximately 150 degrees. at least 10 meters up. The outer radius of the detection area 14 is preferably about 50 meters in order to detect vehicles approaching from the rear as early as possible and, in addition to the blind spot monitoring, also to allow a lane change assistance function of the monitoring device. Instead of the radar sensor could be provided as a rear space sensor 11 and a camera in conjunction with an associated image processing object detection device, wherein the camera, z. B. by using a wide-angle lens, should have a correspondingly wide detection range.
Die seitlichen Sensoren 12 und 13 sind jeweils an einer linken 4 bzw. rechten Seitenwand 5 des Fahrzeugs 1 an einem zugehörigen seitlichen Schenkel des Heckstoßfängers angeordnet und dazu ausgebildet, Fahrzeuge 2 oder 3 in einem linken L bzw. rechten Seitenraum R des überwachten Fahrzeugs 1 zu erfassen. Die als an sich bekannte Ultraschallabstandsensoren ausgebildeten Sensoren 12 und 13, wie sie z. B. zur Parklückenvermessung eingesetzt werden, weisen jeweils einen kegelförmigen Detektionsbereich 15 bzw. 16 mit schmalem Öffnungs- winkel und einer Reichweite von etwa 4 - 10 Metern auf, wobei die Längsachse des kegelförmigen Detektionsbereichs 15 bzw. 16 im Wesentlichen in Fahrzeugquerrichtung verläuft und die Detektionsbereiche 15 bzw. 16 ausschließlich im zugehörigen Seitenraum L bzw. R, d. h. seitlich neben dem Fahrzeug 1, angeordnet sind. Wie in Fig. 1 und 2 ersichtlich sind die Detektionsbereiche 15 und 16 der beiden seitlichen Sensoren 12 und 13 überdeckungsfrei in einem Längsabstand vor dem Detektionsbereich 14 des Rückraumsensors 11 angeordnet.The lateral sensors 12 and 13 are respectively arranged on a left 4 and right side wall 5 of the vehicle 1 on an associated side leg of the rear bumper and adapted to vehicles 2 or 3 in a left L and right side space R of the monitored vehicle 1 to capture. The known per se known ultrasonic distance sensors sensors 12 and 13, as they are known for. B. are used for parking space measurement, each having a conical detection area 15 and 16 with a narrow opening angle and a range of about 4 - 10 meters, wherein the longitudinal axis of the conical detection area 15 and 16 extends substantially in the vehicle transverse direction and the detection areas 15 or 16 exclusively in the associated side space L or R, d. H. laterally next to the vehicle 1, are arranged. As can be seen in FIGS. 1 and 2, the detection areas 15 and 16 of the two lateral sensors 12 and 13 are arranged without overlapping at a longitudinal distance in front of the detection area 14 of the rear space sensor 11.
Die beiden seitlichen Sensoren 12 und 13 sind dazu ausgebildet, neben der Umfeldüberwachung auch zur Vermessung von Parklücken eingesetzt zu werden. Hierzu sind die beiden Sensoren 12 und 13 mit einer nicht gezeigten Parklückenmessein- richtung verbunden. Diese Parklückenmesseinrichtung kann integral mit der Auswerteeinrichtung der Umfeldüberwachungsein- richtung sein. Alternativ könnte aber auch eine separate Parklückenmesseinrichtung vorgesehen sein. Die Parklücken- messeinrichtung kann Teil einer Vorrichtung zur Unterstützung des Fahrers bei einem Einparkvorgang sein, welche nach Vermessung der Parklücke durch einen der beiden Sensoren 12 und 13 in an sich bekannter Weise einen autonomen oder semiautonomen Einparkvorgang des Fahrzeugs 1 in die Parklücke steuert .The two lateral sensors 12 and 13 are designed to be used in addition to the environment monitoring for the measurement of parking spaces. For this purpose, the two sensors 12 and 13 are connected to a not shown Parklückenmessein- direction. This parking space measuring device can be integrated with the evaluation device of the environmental monitoring system. be direction. Alternatively, however, a separate parking space measuring device could also be provided. The parking space measuring device may be part of a device for assisting the driver in a parking operation, which controls an autonomous or semi-autonomous parking operation of the vehicle 1 in the parking space after measuring the parking space by one of the two sensors 12 and 13 in a conventional manner.
Die seitlichen Sensoren 12 und 13 können hierzu in unterschiedlichen Messmoden betreibbar sein, wobei zur Totwinkel - Überwachung ein Überwachungsmodus mit geringerer Abtastrate und größere Reichweite und zur Parklückenvermessung ein Parklückenvermessungsmodus mit höherer Abtastrate und geringerer Reichweite vorgesehen sein kann. Alternativ könnten die seitlichen Sensoren 12 und 13 bei Totwinkelüberwachung und Parklückenvermessung jedoch auch im selben Messmodus betrieben werden. Die Aktivierung der Parklückenvermessung erfolgt durch eine entsprechend Auswahl des Fahrers an einer Bedieneinrichtung oder selbsttätig anhand von Parametern, wie z. B. der Fahrgeschwindigkeit, durch die Parklückenmesseinrichtung. Vor Aktivierung der Parklückenmesseinrichtung wird die Überwachungseinrichtung dann ggf. selbsttätig deaktiviert.The lateral sensors 12 and 13 can be operated in different measurement modes for this purpose, wherein for blind spot monitoring a monitoring mode with a lower sampling rate and greater range and parking space measurement a parking space measurement mode can be provided with higher sampling rate and shorter range. Alternatively, the side sensors 12 and 13 could be operated in blind spot monitoring and parking space measurement but also in the same measurement mode. The parking space measurement is activated by a corresponding selection of the driver on an operating device or automatically by means of parameters such. B. the driving speed, through the parking space measuring device. Before activation of the parking space measuring device, the monitoring device is then optionally automatically deactivated.
Nachfolgend werden die Funktionsweise der Überwachungseinrichtung und die Aktivierung der Warnmeldung anhand verschiedener Fahrsituationen näher erläutert.The operation of the monitoring device and the activation of the warning message based on different driving situations are explained in more detail below.
Die Fig. 1 und 2 zeigen das überwachte Fahrzeug 1 auf einer zweispurigen Fahrbahn, wie z. B. einer Autobahn oder Schnellstrasse, wobei das überwachte Fahrzeug 1 auf einer rechten Fahrspur fährt und von einem auf einer linken Fahrspur mit größerer Geschwindigkeit fahrenden Fahrzeug 3 überholt wird. Im Rückraum B des überwachten Fahrzeugs 1 fährt auf der rechten Fahrspur ferner ein weiteres Fahrzeug 2, welches dem überwachten Fahrzeug 1 als sogenanntes Folgefahrzeug mit etwa derselben Geschwindigkeit in einem Längsabstand folgt. Wenn sich das überholende Fahrzeug 3 von hinten dem überwachten Fahrzeug 1 nähert, wird es zuerst von dem RückraumsensorFigs. 1 and 2 show the monitored vehicle 1 on a two-lane road, such. As a highway or highway, the monitored vehicle 1 runs on a right lane and is overtaken by a moving on a left lane at a faster speed vehicle 3. In the rear space B of the monitored vehicle 1 also drives on the right lane another vehicle 2, which follows the monitored vehicle 1 as a so-called follower vehicle with approximately the same speed in a longitudinal distance. When the overtaking vehicle 3 approaches the monitored vehicle 1 from behind, it first becomes the rear space sensor
11 erfasst, sobald es in dessen Detektionsbereich 14 gerät. Der Rückraumsensor 11 misst dann die Entfernung, die Winkel - läge und die Relativgeschwindigkeit des Fahrzeugs 3, z. B. mittels des Dopplereffekts. Die Auswerteeinrichtung stellt anhand dieser Messdaten fest, ob es sich bei dem detektierten Objekt um ein auf einer benachbarten Fahrspur überholendes oder ein auf derselben Fahrspur folgendes Fahrzeug handelt, wie z. B. das Fahrzeug 2 in Fig. 1 und 2. Nachfolgend bestimmt die Auswerteeinrichtung anhand der Daten des Rückraumsensors 11 fortlaufend die Position des überholenden Fahrzeugs 11 und aktiviert das Warnsignal der rechten Anzeigeeinrichtung, sobald das Fahrzeug 3 mit seinem Frontbereich in den linken Totwinkelbereich Tl des überwachten Fahrzeugs 1 eintritt. Die Lage der Totwinkelbereiche Tl und T2 ist dabei in der Auswerteeinrichtung gespeichert.11 detected as soon as it gets into its detection area 14. The rear space sensor 11 then measures the distance, the angle and the relative speed of the vehicle 3, z. B. by means of the Doppler effect. On the basis of these measurement data, the evaluation device determines whether the detected object is a vehicle overtaking on an adjacent traffic lane or following a vehicle on the same traffic lane, such as a vehicle. Subsequently, the evaluation device continuously determines the position of the overtaking vehicle 11 on the basis of the data of the rear space sensor 11 and activates the warning signal of the right display device as soon as the vehicle 3 with its front area in the left blind spot area Tl monitored vehicle 1 occurs. The position of the blind spot areas T1 and T2 is stored in the evaluation device.
Die Fig. 1 zeigt das überholende Fahrzeug 3 im linken Totwinkelbereich Tl in einer Zwischenposition, in welcher das Fahrzeug 3 sich ausschließlich im Detektionsbereich 14 des Rückraumsensors 11 befindet und somit lediglich von diesem erfasst wird. Bei der Fortsetzung seines Überholvorgangs bewegt sich das Fahrzeug 3 dann - wie durch den Pfeil in Fig. 1 angedeutet - relativ zum überwachten Fahrzeug 1 weiter nach vorne und tritt schließlich mit seinem Fronbereich in den Detektionsbereich 15 des linken seitlichen Sensors 11 ein.1 shows the overtaking vehicle 3 in the left blind spot area T1 in an intermediate position in which the vehicle 3 is located exclusively in the detection area 14 of the rear space sensor 11 and is thus only detected by the latter. In the continuation of its overtaking process, the vehicle 3 then moves forward, as indicated by the arrow in FIG. 1, relative to the monitored vehicle 1 and finally enters the detection area 15 of the left lateral sensor 11 with its front area.
Die Fig. 2 zeigt eine weitere Zwischenposition, in welcher der Heckbereich des überholenden Fahrzeugs 3 vom Rückraumsensor 11 und der Frontbereich vom linken seitlichen SensorFIG. 2 shows a further intermediate position, in which the rear region of the overtaking vehicle 3 from the rear space sensor 11 and the front region from the left lateral sensor
12 erfasst wird. Im weiteren Ablauf seines Überholvorgangs bewegt sich das Fahrzeug 3 nachfolgend auf der linken Fahrspur weiter nach vor, bis es nur noch vom seitlichen Sensor12 is detected. In the further course of its overtaking process, the vehicle 3 continues to move forward in the left lane until it only from the side sensor
13 und schließlich dann gar nicht mehr von der Sensoranordnung 10 erfasst wird. Sobald das überholende Fahrzeug 3 den Detektionsbereich 15 des linken seitlichen Sensors 13 ver- lässt, wird das Warnsignal der rechten Anzeigeeinrichtung deaktiviert .13 and finally no longer detected by the sensor assembly 10. Once the overtaking vehicle 3 the Detection area 15 of the left side sensor 13 leaves, the warning signal of the right display device is deactivated.
Die genannte Beschreibung ist entsprechend spiegelverkehrt auf einen Überholvorgang übertragbar, bei welchem das Fahrzeug 1 auf einer rechten Fahrspur von einem Fahrzeug überholt wird.The said description is corresponding mirror-inverted transferable to an overtaking operation, in which the vehicle 1 is overtaken in a right lane of a vehicle.
Bei einem eigenen Überholvorgang des überwachten Fahrzeugs 1, d. h. einem Überholvorgang, bei welchem das überwachtes Fahrzeug 1 eine anderes Fahrzeug mit höherer Geschwindigkeit z . B. auf einer linken Fahrspur überholt, tritt das überholte Fahrzeug zuerst in den Detektionsbereich 16 des rechten seitlichen Sensors 13 ein. Das Warnsignal für den rechten Totwinkelbereich T2 wird in diesem Fall durch eine Detektion des rechten seitlichen Sensors 13 initiiert. Im Zuge des weiteren Überholvorgangs tritt das überholte Fahrzeug dann mit seinem Heck in den Detektektionsbereich 14 des Rückraumsensors 11 ein, tritt nachfolgend mit seinem Frontbereich aus dem Detektionsbereich 16 des seitlichen Sensors 13 aus und verlagert sich relativ zum überwachten Fahrzeug 1 weiter nach hinten. Die Position des überholten Fahrzeugs wird dann fortlaufend vom Rückraumsensor 11 gemessen, wobei die Auswerteeinrichtung anhand der Entfernungs- und Winkelinformation des Rückraumsensors 11 feststellt, wann das Fahrzeug den Totwinkelbereich T2 verlassen hat. Das Warnsignal wird dann entsprechend deaktiviert .In an own overtaking operation of the monitored vehicle 1, d. H. an overtaking operation in which the monitored vehicle 1 another vehicle with higher speed z. B. overtaken on a left lane, the outdated vehicle first enters the detection area 16 of the right side sensor 13 a. The warning signal for the right blind spot area T2 is initiated in this case by a detection of the right lateral sensor 13. In the course of the further overtaking process, the outdated vehicle then enters the detection area 14 of the rear space sensor 11 with its rear end, subsequently exits the detection area 16 of the lateral sensor 13 with its front area and moves further back relative to the monitored vehicle 1. The position of the reconditioned vehicle is then continuously measured by the rear space sensor 11, the evaluation device determining from the distance and angle information of the rear space sensor 11 when the vehicle has left the blind spot area T2. The warning signal is then deactivated accordingly.
Bei einer seitlichen Annäherung eines fremden Fahrzeugs, aufgrund eines Spurwechsels dieses Fahrzeugs oder eines eigenen Spurwechsels des überwachten Fahrzeugs 1, wird das sich seitlich annähernde Fahrzeug - je nach relativer Längsposition - entweder zuerst vom Rückraumsensor 11 oder vom benachbarten seitlichen Sensor 12 bzw. 13 detektiert. Die Auswerteeinrichtung stellt dann fest, ob sich das Fahrzeug im Totwinkelbereich Tl bzw. T2 befindet und aktiviert ggf. das entspre- chende Warnsignal. Nachfolgend wird die Position des benachbarten Fahrzeugs fortlaufend gemessen, wobei das Warnsignal solange aktiviert bleibt, wie anhand der Messdaten der Sensoren 11, 12 und 13 festgestellt wird, dass sich das Fahrzeug im Totwinkelbereich Tl bzw. T2 befindet.In a lateral approach of a foreign vehicle, due to a lane change of this vehicle or a separate lane change of the monitored vehicle 1, the laterally approaching vehicle - depending on the relative longitudinal position - either first detected by the rear space sensor 11 or the adjacent lateral sensor 12 and 13 respectively. The evaluation device then determines whether the vehicle is in the blind spot range T1 or T2 and activates the corresponding warning signal. Subsequently, the position of the adjacent vehicle is continuously measured, the warning signal remains activated as long as it is determined based on the measurement data of the sensors 11, 12 and 13 that the vehicle is in the blind spot range Tl or T2.
Zusammenfassend lässt sich die Warnstrategie der Überwachungseinrichtung derart beschreiben, dass eine Warnung immer dann aktiviert ist, wenn zumindest eine der beiden Bedingungen a) oder b) erfüllt ist:In summary, the warning strategy of the monitoring device can be described such that a warning is always activated if at least one of the two conditions a) or b) is fulfilled:
a) Anhand von Entfernungs- und Winkelinformation des Rückraumsensors 11 wird festgestellt, dass sich das Fahrzeug im Totwinkelbereich Tl bzw. T2 befindet odera) Based on distance and angle information of the rear space sensor 11, it is determined that the vehicle is in the blind spot area Tl or T2 or
b) Fahrzeug wird zumindest teilweise von einem der seitlichen Sensoren 12 oder 13 erfasst. b) Vehicle is at least partially detected by one of the lateral sensors 12 or 13.

Claims

Patentansprüche claims
1. Überwachungseinrichtung für seitliche Totwinkelbereiche eines Fahrzeugs mit einer Sensoranordnung, um im Fahrzustand bewegte Objekte in einem Rückraum sowie einem linken und rechten Seitenraum des Fahrzeugs zu erfassen, wobei die Sensoranordnung wenigstens einen im Heckbereich des Fahrzeugs angeordneten Rückraumsensor umfasst, dessen Detektionsbereich den Rückraum des Fahrzeugs zumindest teilweise abdeckt, dadurch gekennzeichnet, dass die Sensoranordnung (10) zwei seitliche Sensoren (12, 13) umfasst, die in einem seitlichen Abstand zum Rückraumsensor (11) angeordnet sind und deren Detektionsbereiche (15, 16) jeweils den linken (L) bzw. rechten Seitenraum (R) des Fahrzeugs (1) zumindest teilweise abdecken.1. Monitoring device for lateral blind spot areas of a vehicle with a sensor arrangement to detect moving objects in a rear space and a left and right side room of the vehicle, wherein the sensor arrangement comprises at least one arranged in the rear of the vehicle rear space sensor, the detection area of the rear space of the vehicle at least partially covering, characterized in that the sensor arrangement (10) comprises two lateral sensors (12, 13) which are arranged at a lateral distance to the rear space sensor (11) and the detection areas (15, 16) respectively the left (L) and . right side space (R) of the vehicle (1) cover at least partially.
2. Überwachungseinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass als Rückraumsensor (11) ein Radarsensor vorgesehen ist.2. Monitoring device according to claim 1, characterized in that a radar sensor is provided as the rear space sensor (11).
3. Überwachungseinrichtung nach Anspruch 2, dadurch gekennzeichnet, dass als Rückraumsensor (11) ein Multi-Beam Radarsensor vorgesehen ist3. Monitoring device according to claim 2, characterized in that a multi-beam radar sensor is provided as the rear space sensor (11)
4. Überwachungseinrichtung nach einem der vorhergehenden Ansprüche , dadurch gekennzeichnet, dass zur Überwachung des Rückraums (B) ein einziger Rückraumsensor (11) der Sensoranordnung (10) vorgesehen ist. 4. Monitoring device according to one of the preceding claims, characterized in that for monitoring the back space (B), a single rear space sensor (11) of the sensor arrangement (10) is provided.
5. Überwachungseinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Rückraumsensor (11) in Fahrzeugquerichtung gesehen etwa in der Mitte des Heckbereichs (6) angeordnet ist und einen spiegelsymmetrisch zur Fahrzeuglängsrichtung ausgebildeten Detektionsbereich (14) aufweist.5. Monitoring device according to one of the preceding claims, characterized in that the rear space sensor (11) seen in the vehicle transverse direction is arranged approximately in the middle of the rear region (6) and has a mirror-symmetrical to the vehicle longitudinal direction formed detection area (14).
6. Überwachungseinrichtung nach einem der vorhergehenden Ansprüche , dadurch gekennzeichnet, dass jeweils einer der seitlichen Sensoren (12, 13) an einer linken (4) bzw. rechten Seitenwand (5) des Fahrzeugs (1) angeordnet ist.6. Monitoring device according to one of the preceding claims, characterized in that in each case one of the lateral sensors (12, 13) on a left (4) or right side wall (5) of the vehicle (1) is arranged.
7. Überwachungseinrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die seitlichen Sensoren (12, 13) jeweils in einem hinteren Bereich der zugehörigen Seitenwand (4, 5) angeordnet sind.7. Monitoring device according to claim 6, characterized in that the lateral sensors (12, 13) in each case in a rear region of the associated side wall (4, 5) are arranged.
8. Überwachungseinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Detektionsbereiche (15, 16) der seitlichen Sensoren8. Monitoring device according to one of the preceding claims, characterized in that the detection areas (15, 16) of the lateral sensors
(12, 13) in Fahrzeuglängsrichtung gesehen in einem Längs - abstand vor dem Detektionsbereich (14) des Rückraumsensors(12, 13) seen in the vehicle longitudinal direction in a longitudinal distance in front of the detection area (14) of the rear space sensor
(11) angeordnet sind.(11) are arranged.
9. Überwachungseinrichtung nach einem der vorhergehenden Ansprüche , dadurch gekennzeichnet, dass die seitlichen Sensoren (12, 13) jeweils als Ultraschallsensoren ausgebildet sind. 9. Monitoring device according to one of the preceding claims, characterized in that the lateral sensors (12, 13) are each formed as ultrasonic sensors.
10. Überwachungseinrichtung nach einem der vorhergehenden Ansprüche , dadurch gekennzeichnet, dass die seitlichen Sensoren (12, 13) dazu ausgebildet sind, eine seitliche Begrenzung der Fahrbahn zu erkennen.10. Monitoring device according to one of the preceding claims, characterized in that the lateral sensors (12, 13) are adapted to detect a lateral boundary of the roadway.
11. ϋberwachungseinrichtung nach einem der vorhergehenden Ansprüche , dadurch gekennzeichnet, dass die seitlichen Sensoren (12, 13) dazu ausgebildet sind in einem Parkmodus eine seitlich neben dem Fahrzeug (1) angeordnete Parklücke zu vermessen.11. Monitoring device according to one of the preceding claims, characterized in that the lateral sensors (12, 13) are adapted to measure in a parking mode laterally adjacent to the vehicle (1) arranged parking space.
12. Verfahren zur Überwachung von seitlichen Totwinkelbereichen eines Fahrzeugs, um im Fahrzustand bewegte Objekte in einem Rückraum sowie einem linken und einem rechten Seitenraum des Fahrzeugs zu erfassen, wobei Objekte im Rückraum des Fahrzeugs durch wenigstens einen im Heckbereich des Fahrzeugs angeordneten Rückraumsensor erfasst werden, dadurch gekennzeichnet, dass Objekte (Fahrzeug 3) im linken (L) und rechten Seitenraum (R) des Fahrzeugs (1) jeweils mittels eines zugehörigen linken (12) bzw. rechten seitlichen Sensors (13) erfasst werden, der in einem seitlichen Abstand zum Rückraumsensor (11) angeordnet ist.12. A method for monitoring lateral blind spot areas of a vehicle in order to detect moving objects in a rear space and a left and a right side space of the vehicle, objects in the rear space of the vehicle being detected by at least one rear space sensor arranged in the rear area of the vehicle in that objects (vehicle 3) in the left (L) and right side space (R) of the vehicle (1) are each detected by means of an associated left (12) or right lateral sensor (13) which is at a lateral distance from the rear space sensor (11) is arranged.
13. Verfahren nach Anspruch 12, dadurch gekennzeichnet, dass Objekte (Fahrzeuge 2, 3) im Rückraum (B) des Fahrzeugs (1) mittels eines einzigen Rückraumsensors (11) erfasst werden . 13. The method according to claim 12, characterized in that objects (vehicles 2, 3) in the rear space (B) of the vehicle (1) by means of a single rear space sensor (11) are detected.
PCT/EP2009/008714 2008-12-10 2009-12-07 Monitoring device and method for monitoring blind spots of a vehicle WO2010066394A2 (en)

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