WO2010121839A1 - Système d'assistance - Google Patents

Système d'assistance Download PDF

Info

Publication number
WO2010121839A1
WO2010121839A1 PCT/EP2010/002822 EP2010002822W WO2010121839A1 WO 2010121839 A1 WO2010121839 A1 WO 2010121839A1 EP 2010002822 W EP2010002822 W EP 2010002822W WO 2010121839 A1 WO2010121839 A1 WO 2010121839A1
Authority
WO
WIPO (PCT)
Prior art keywords
brake
vehicle
assistance system
brake light
evaluation unit
Prior art date
Application number
PCT/EP2010/002822
Other languages
German (de)
English (en)
Inventor
Kai-Uwe Däne
Original Assignee
Hella Kgaa Hueck & Co.
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 Hella Kgaa Hueck & Co. filed Critical Hella Kgaa Hueck & Co.
Publication of WO2010121839A1 publication Critical patent/WO2010121839A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
    • 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
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • the invention relates to an assistance system for a vehicle equipped with a brake and at least one brake light according to the preamble of the main claim.
  • Such an assistance system comprises at least one environmental sensor for acquiring information about an environment of the vehicle, that is to say information which depends on a situation outside the vehicle, and an evaluation unit for evaluating output signals of this at least one ambient sensor in which the said information reflect.
  • Such assistance systems are known from the prior art as so-called driver assistance systems, which can be adapted to give warnings to a driver of the vehicle as a function of the recorded information or even by activating vehicle functions into one Driving situation to intervene.
  • camera systems or distance sensors can be used as environmental sensors.
  • driver assistance systems In many cases, a danger situation identified by driver assistance systems will make a braking operation necessary. As a rule, however, it is not desirable for the driver assistance system to trigger this braking process automatically by automatically actuating the brake, because a
  • driver assistance systems known from the prior art can already contribute to greater safety. Nevertheless, between a message about a dangerous situation by the driver assistance system and a corresponding reaction of the driver to this message mostly valuable time, so that the driver will brake, for example, only after a moment of shock. This can result in a driver of a following vehicle being informed of the necessity of braking only when the brake light of the first vehicle lights up, recognizing this need only with a corresponding delay. Since the driver of the following vehicle also allows a non-vanishing reaction time to elapse before he can react, in many cases this too will be delayed Initiate braking. In this way, reaction times of several drivers add up in a traffic situation with several consecutive vehicles, which can lead to rear-end collisions.
  • the invention has for its object to propose an assistance system that helps to solve the problem described.
  • This assistance system is therefore intended to help reduce the risk that the following road users will brake too late for a vehicle because of too long and cumulative reaction times, with brake systems that are triggered automatically by the assistance system, however, to be largely avoided.
  • the invention proposes that the assistance system has a switching device which can be actuated by the evaluation unit of the assistance system independently of an actuation of the brake for switching on the brake light even without actuation of the brake, wherein the evaluation unit is set up to actuate the switching device as a function of the
  • the evaluation unit is thus configured to turn on the brake light in response to the output signals of the environmental sensor by means of the switching device, without operating the brake and without an actuation of the brake by a driver of the Vehicle presuppose.
  • the brake light can be switched on accordingly not only by operating the brakes, but also independently thereof with the switching device controlled by the evaluation unit.
  • the assistance system can advantageously signal the following road users to the vehicle that a deceleration of the vehicle is to be expected, even if this is actually only a little later takes place, namely after the passage of a reaction time of the driver.
  • a possibly necessary reaction of the following road users, in particular a delay of subsequent vehicles, can thereby advantageously also be initiated before the reaction time of the driver of the first-mentioned vehicle has elapsed.
  • the evaluation unit of the assistance system should be set up in such a way that it causes the brake light to be switched on precisely when a driving situation is detected which makes a braking operation necessary.
  • the evaluation unit can resort to algorithms that are known from conventional driver assistance system for detecting corresponding driving situations.
  • the evaluation unit can also be a component of a driver assistance system which, in addition to triggering warning messages for the driver of the vehicle and / or for activating vehicle functions in dependence on the Output signals of the at least one ambient sensor is set up.
  • the assistance system then includes or supplements a driver assistance system, which provides advantageous functions known per se, in an advantageous manner with the option of informing subsequent road users at an early stage of an at least in all probability becoming necessary delay.
  • the at least one environmental sensor of the assistance system may be e.g. to act a camera and / or a distance sensor and / or a sensor for detecting a relative speed against an obstacle.
  • a distance sensors or as sensors for detecting a relative speed in this case, for example, radar systems, Li- Darsysteme or laser systems in question.
  • the at least one environmental sensor is or comprises a camera which is preferably directed toward an area in front of the vehicle in the direction of travel and the output signals are accordingly given by image data supplied by the camera or by the camera Camera supplied
  • a particularly advantageous embodiment of the invention provides that the evaluation unit is set up in terms of programming technology, a lighting up of a brake light of another vehicle in To recognize a visual field of the camera and to make a condition for an independent of a brake actuation of the brake light of the vehicle, which of course is not to be excluded, that in addition also other conditions
  • Switching on the brake light can trigger.
  • the illumination of another brake light in the field of view of the camera should therefore be a condition for at least one of possibly several conditional instructions which are executed for switching on the brake light of the vehicle by the evaluation unit.
  • the evaluation unit may additionally make a presence of other conditions a prerequisite for an independent of a brake actuation switching on the brake light, for example, a shortfall of a speed-dependent safety distance to a vehicle in front.
  • the brake light of the vehicle equipped with the assistance system can be activated virtually at the same time, even before the driver of the vehicle equipped with the assistance system initiates a braking process, that is to say has applied a brake pedal of the vehicle , Thus, the following traffic is already warned before the braking process of the vehicle has started with the automatically controlled brake light.
  • the assistance system can thus offer the advantage that a vehicle following the vehicle equipped with it can simultaneously detect a braking operation of a vehicle traveling in front of the vehicle thus equipped, ie without delay by a non-vanishing reaction time of the driver of the vehicle equipped with the assistance system.
  • the brake light of the preceding vehicle can thus by the vehicle equipped with the assistance system is passed to the rear, which makes timely braking of subsequent vehicles more probable and in particular helps prevent rear-end collisions.
  • known image evaluation methods can be used for recognizing the illumination of another brake light in the field of view of the camera.
  • the assistance system may include, in addition to the at least one environmental sensor and at least one vehicle sensor for detecting information about a driving condition of the vehicle Evaluation unit is then also set up to evaluate output signals of this at least one vehicle sensor.
  • the vehicle sensor may be e.g. to a speedometer, because the necessity and probability of a brake operation will usually depend on an intrinsic speed of the vehicle.
  • the evaluation unit is preferably set up in terms of programming technology to make a switching on of the brake light that is independent of a brake operation additionally dependent on the output signals of the at least one vehicle sensor.
  • the evaluation unit can be realized in a simple manner by an appropriate programming with the required properties. It can be used, in particular, for a decision on switching on of the brake light, which is independent of a brake actuation, for evaluating a decision function. be directed, which depends on a detected distance to an obstacle, a relative speed between the obstacle and the vehicle and a speed of the vehicle. This decision function can be evaluated by deriving the distance, the relative speed and the speed of the vehicle from the output signals of the at least one environmental sensor and preferably of a vehicle sensor.
  • the switching device is set up for activating a first intensity level of a plurality of intensity levels of the brake light, when the evaluation unit causes the brake light to be switched on independently of a brake application, and for activating a second intensity level that is brighter than the first intensity level, in the case of a brake application.
  • a difference between the intensity levels may e.g. be given by the fact that in the first intensity level, a smaller number and in the second intensity level, a larger number of a plurality of light sources of the brake light are turned on.
  • the brake light is perceived more intense and therefore more conspicuous when the vehicle is actually decelerated due to braking, while it only lights up with slightly lower intensity, as long as the brake has not yet been actuated and at least not strongly moving the vehicle is delayed.
  • the evaluation unit is additionally set up to initiate a switch-off operation by the switching device when the brake is not actuated and no sufficient condition for switching on the brake light regardless of a brake application longer exists. In this way, it is possible to prevent the brake light from continuing to illuminate permanently when a situation pointing to an imminent deceleration has been recognized, but nevertheless no braking should have taken place.
  • Fig. 1 is a schematic representation of a
  • FIG. 2 is a flow chart illustrating an operation of said assistance system
  • FIGS. 3 to 5 each show a side view of a traffic situation at three successive points in time, on the basis of which a function of the assistance system is shown in a preferred embodiment.
  • a motor vehicle 1 Shown in Fig. 1 is a motor vehicle 1, which is shown here as a car, but which could also be a truck or a motorcycle.
  • This motor vehicle has a brake to be actuated by means of a brake pedal 2, which is shown schematically, and a brake light 3 arranged at a rear of the motor vehicle 1, which can be switched on, in particular by actuation of the brake with the brake pedal 2.
  • the motor vehicle 1 is equipped with an assistance system, which is shown schematically in FIG.
  • This assistance system comprises a driver assistance system of a known type having a computer 4 and a plurality of environmental sensors, wherein outputs of these environmental sensors are connected to the computer 4.
  • the environmental sensors are a digital camera 5 directed in the direction of travel of the motor vehicle 1 to an area in front of the motor vehicle 1, which supplies the computer 4 with image data, a lidar system 6, a laser system 7 and a radar system 8.
  • the lidar system 6, the laser system 7 and the radar system 8 act as distance sensors and as sensors for detecting a relative speed between the motor vehicle 1 and an obstacle detected by the environmental sensors.
  • the assistance system comprises a plurality of vehicle sensors 10 connected to a vehicle control unit 9 for acquiring information about a driving state of the motor vehicle 1, including a speedometer 11. Via a vehicle bus 12, to which a sensor is connected, the position of the brake pedal 2 detected, the vehicle control unit 9 is connected to the computer 4 of the driver assistance system.
  • the computer 4 can cause the driver assistance system to trigger warnings for a driver of the motor vehicle 1 and under certain circumstances also by driving vehicle functions as a function of said output signals engage in a control of the motor vehicle 1.
  • the assistance system of the force vehicle 1 a brake light assistant 13, which is also connected to the vehicle bus 12.
  • the brake light assistant 13 comprises an evaluation unit 14 for evaluating the output signals of the environmental sensors and the output signals of the vehicle sensors 10 and in particular the speedometer 11.
  • the brake light assistant 13 includes a switching device 15 for switching on the brake light 3 without actuation of the brake of the motor vehicle 1.
  • Das Brake light 3 can therefore both by an operation of the brake, ie by depressing the brake pedal 2, as well as independently turned on with the driven by the evaluation unit 14 switching device 15 of the brake light assistant 13.
  • the evaluation unit 14 is programmed to control the switching device 15 as a function of both the output signals of the environmental sensors and of the output signals of the vehicle sensors 10 and the speed sensor 11.
  • the evaluation unit 14 is thus programmed to switch on the brake light 3 in response to said output signals by means of the switching device 15 can cause, without doing the brake or presume actuation of the brake by the driver of the motor vehicle 1.
  • the output signals can of course already be processed in the vehicle control unit 9 or in the computer 4 of the driver assistance system and may be transmitted in processed form via the vehicle bus 12 to the brake light assistants 13 under certain circumstances.
  • the brake light 3 can be designed so that it can be operated with two different intensity levels and shines less bright when operating in a first intensity level as when operating in a second intensity level. This can be achieved, for example, by switching on two different light sources of the brake light 3 for the two intensity levels or by activating a larger number of multiple light sources of the brake light 3 for activating the second intensity level than for activating the first intensity level.
  • the switching device 15 may be arranged so that the first intensity level of the brake light is activated when the evaluation unit 14 causes switching on the brake light 3 independent of a brake operation, while the second intensity level in the case of actuation of the brake by depressing the brake pedal 2 is activated.
  • the evaluation unit 14 is programmed so that it can also initiate a switch-off operation by the switching device 15, namely, when the brake pedal 2 is not depressed and no sufficient condition for switching on the brake light 3 is fulfilled independently of a braking operation. Switching off the brake light 3 in this way is conceivable in two different scenarios, namely, both when the brake pedal 2 is released and after the brake light 3 has been switched on by the evaluation unit 14, independently of a brake actuation, when the brake is engaged contrary to expectations has not been actuated and the ambient situation and driving situation of the motor vehicle 1 has changed so that braking is no longer expected.
  • an automatic braking operation S3 can be triggered, which then also the output S2, namely a light of the brake light 3, the result.
  • the automatic braking process S3 is triggered in this case by output signals S4 of the computer 4, which depend in particular on output signals of the environmental sensors and in which e.g. may be below a minimum distance to an obstacle or may indicate a lane departure.
  • This algorithm is designed in such a way that, in particular, a decision function is exercised for decision S6. is dependent on a distance to an obstacle detected by the environment, a relative speed between this obstacle and the motor vehicle 1 and the speed of the motor vehicle 1 determined by the speed meter 11. If the decision S6 positive, is, without the brake of the motor vehicle 1 is actuated, also the output S2 is triggered, namely a switching on of the brake light 3 by the switching device 15th
  • the brake light assistant 13 is thus designed to be able to associate vehicle data determined by the speedometer 11 and the remaining vehicle sensors 10 and driver assistance data, which depend in particular on output signals of the environmental sensors, and to map a scenario from this and then decide whether the brake light 3 is turned on, although not braked. This results in a decisive advantage over known vehicles, even those that are equipped with driver assistance systems. In these, a driver signals subsequent traffic only when the brake is actuated by the associated lighting up of the brake light that he has initiated a braking action and consequently the subsequent traffic must also be decelerated.
  • the brake light assistant 13 is connected between the vehicle bus on which run all information of the driver assistance system, and the brake light 3, instead of course, a plurality of brake lights 3 can be provided.
  • the assistance system realized in this way recognizes, on the one hand, all messages from the driver assistance system and, on the other hand, vehicle data which the vehicle control unit 9 issues and derives therefrom a situation assessment.
  • the brake assistant 13 detects an intrinsic speed of the motor vehicle 1 from the vehicle data and a distance to a car in front with the aid of the distance sensors located below the environmental sensors. So he can decide independently, to activate the brake light 3 at too small a distance, even if the driver has not yet initiated a braking operation.
  • FIG. 3 is connected to the assistance system equipped automotive vehicle 1 in a traffic situation between a preceding vehicle 1 ⁇ and the motor vehicle 1 following vehicle 1 shown ".
  • the evaluation unit not shown here, 14 of the of the assistance system ura- summarized brake light wizard 13 is at this Implementation program-technically set up to evaluate the image data supplied by the camera 5, typically in cooperation with the computer 4 of the driver assistance system, so that brake lights flashing in a field of view of the camera 5 are detected and a thus detected illumination of another brake light at least then triggers a switching on of the brake light 3 independent of an actuation of the brake of the motor vehicle 1, if in addition other conditions are maintained, for example a speed-dependent minimum distance to the recognized other brake light is exceeded.
  • a programming would also be conceivable in which a detection of a flare-up of another brake light in the field of vision of the camera 5 already forms a sufficient condition for switching on the brake light 3 of the motor vehicle 1 independently
  • Lighting a brake light 3 'of the preceding vehicle 1' has the consequence. Although the driver of the motor vehicle 1 can see the lighting up of this brake light 3 ', he himself has not yet initiated braking because he is only able to do so after a certain reaction time has elapsed. However, the assistance system of the motor vehicle 1 ensures in the manner described that the brake light 3 of the not yet braked motor vehicle 1 lights up because the illumination of the brake light 3 'in the field of view of the camera 5 has been detected by the supported by the computer 4 evaluation unit 14 and possibly additionally the driving situation has been evaluated so that a braking seems necessary and can be expected as imminent. The illumination of the brake light 3 takes place almost simultaneously with the illumination of the brake light 3 1 of the preceding vehicle I 1 .
  • a driver of the following vehicle 1 " is so warned with the illumination of the brake light 3 quasi simultaneously with the driver of the motor vehicle 1 and can be a deceleration of the vehicle. 1 " to prepare. Therefore, shortly after, as shown in Fig. 5, the drivers of the motor vehicle 1 and the following vehicle 1 "can simultaneously brake, so that finally a brake light 3" of the vehicle 1 "also lights up.
  • braking of the vehicle 1 " would only be delayed, because a driver of the vehicle 1", who first learns of the necessity of rapid braking when the brake light 3 lights up, for his part allows a non-disappearing reaction time to elapse before he a brake of the vehicle 1 "can operate.
  • the braking operation of the warning the vehicle first Vehicle 1 can thus simultaneously detect a braking operation of the vehicle traveling ahead of this vehicle I 1 with the preceding motor vehicle 1
  • An intensity of the brake light 3 can be variable in a further development of the described embodiment, so that the brake light 3 shines less bright, as long as the driver of the motor vehicle 1 is not braking while It shines brighter as soon as it has initiated a braking.

Abstract

L'invention concerne un système d'assistance pour un véhicule équipé d'un frein et d'au moins un feu stop (3), le système comprenant au moins un capteur d'environnement et une unité d'évaluation (14) pour évaluer des signaux de sortie du capteur d'environnement, ainsi qu'un dispositif de commutation (15) pouvant être commandé par l'unité d'évaluation (14), indépendamment d'un actionnement du frein, et conçu pour allumer le feu stop (3) également sans actionnement du frein. L'unité d'évaluation (14) est conçue pour commander le dispositif de commutation (15) en fonction des signaux de sortie du ou des capteurs d'environnement.
PCT/EP2010/002822 2009-04-24 2010-04-23 Système d'assistance WO2010121839A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009019300.6 2009-04-24
DE102009019300A DE102009019300A1 (de) 2009-04-24 2009-04-24 Assistenzsystem

Publications (1)

Publication Number Publication Date
WO2010121839A1 true WO2010121839A1 (fr) 2010-10-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/002822 WO2010121839A1 (fr) 2009-04-24 2010-04-23 Système d'assistance

Country Status (2)

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DE (1) DE102009019300A1 (fr)
WO (1) WO2010121839A1 (fr)

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US20210009147A1 (en) * 2018-03-21 2021-01-14 Jenoptik Robot Gmbh Method and device for monitoring and/or detecting a sensor system of a vehicle

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DE102010044219A1 (de) * 2010-11-22 2012-05-24 Robert Bosch Gmbh Verfahren zur Erfassung der Umgebung eines Fahrzeugs
US20140247349A1 (en) * 2013-03-04 2014-09-04 GM Global Technology Operations LLC Integrated lighting, camera and sensor unit
FR3016571B1 (fr) * 2014-01-23 2016-01-22 Microprix Procede de commande d'un vehicule via la detection et le controle de feux stop et vehicule correspondant
FR3059813B1 (fr) * 2016-12-01 2020-10-02 Peugeot Citroen Automobiles Sa Systeme d'aide a la conduite d'un vehicule automobile
FR3109354A1 (fr) * 2020-04-15 2021-10-22 Renault S.A.S Procédé et système d’avertissement anticipé d’un freinage d’un véhicule automobile

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DE19859602A1 (de) * 1998-12-23 2000-06-29 Continental Teves Ag & Co Ohg Vorrichtung und Verfahren zur Verringerung des Bremswegs von Kraftfahrzeugen
WO2006089498A1 (fr) * 2005-02-22 2006-08-31 Adc Automotive Distance Control Systems Gmbh Procede pour identifier l'activation de feux de stop de vehicules circulant devant
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DE1915277A1 (de) * 1969-03-26 1970-10-08 Werner Seinsche Brems- und Schlusslichtanlage fuer Kraftfahrzeuge
DE19859602A1 (de) * 1998-12-23 2000-06-29 Continental Teves Ag & Co Ohg Vorrichtung und Verfahren zur Verringerung des Bremswegs von Kraftfahrzeugen
US7365769B1 (en) * 2000-07-06 2008-04-29 Donald Mager Activating a vehicle's own brake lights and/or brakes when brake lights are sensed in front of the vehicle, including responsively to the proximity of, and/or rate of closure with, a forward vehicle
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