WO2011003658A1 - Dispositif pour aider un conducteur de véhicule à se rabattre - Google Patents

Dispositif pour aider un conducteur de véhicule à se rabattre Download PDF

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Publication number
WO2011003658A1
WO2011003658A1 PCT/EP2010/056854 EP2010056854W WO2011003658A1 WO 2011003658 A1 WO2011003658 A1 WO 2011003658A1 EP 2010056854 W EP2010056854 W EP 2010056854W WO 2011003658 A1 WO2011003658 A1 WO 2011003658A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
data
control unit
vehicles
gap
Prior art date
Application number
PCT/EP2010/056854
Other languages
German (de)
English (en)
Inventor
Joerg Moennich
Gunther Schaaf
Matthias Haug
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2011003658A1 publication Critical patent/WO2011003658A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles

Definitions

  • the invention relates to a device for supporting a Einschervorgangs in vehicles in a gap according to the preamble of patent claim 1.
  • the shearing of vehicles for example, in a lane change or overtaking process requires the driver's highest concentration in order to avoid a collision with an object, such as a foreign vehicle. Often it is perceived by the driver as difficult or uncomfortable, a slowly driving ahead
  • Devices are known, the driver of a vehicle in a lane change, for example, for threading, retracting or retracting from a> 0 highway or for overtaking a slow moving vehicle on a
  • the present invention has the task of a To provide device for assisting a Einschervorgangs on vehicles, in which the detection of particular third-party vehicles is improved.
  • the invention relates to a device for supporting a Einschervorgangs in vehicles in a gap, in particular when classifying between two vehicles, wherein means for determining the position of the vehicle with respect to the 5 surrounding the vehicle infrastructure are given.
  • the gist of the invention is that a control unit is provided for receiving data from at least one other vehicle and / or transmitter from the infrastructure surrounding the vehicle, and that the control unit is designed for this on the basis of the received data over a
  • a traffic control system such as a traffic signal or video camera
  • a communication device for a known C2C (Car-to-Car) -> 0 communication can be used for receiving data for a vehicle from at least one other vehicle, by means of which, for example, vehicle-specific data,
  • Data from detected third-party vehicles and / or foreign data between two vehicles can be transmitted wirelessly.
  • data from the infrastructure for example,> 5 image data from a video camera or contact or induction loops using
  • Communication device to be sent directly to a vehicle.
  • This data transmission from the infrastructure is also known as C2I (Car-to-Infrastructure) communication.
  • C2I Car-to-Infrastructure
  • control unit is designed to receive data via a gap for a Einschervorgang in flowing traffic and evaluate. This can be a driver of a
  • the evaluation of received data is preferably realized in such a way that the driver receives real-time information about the flowing traffic and / or a vacancy gap
  • control unit is designed to determine the size of a gap between two vehicles.
  • the size of a gap between two vehicles for example in the
  • Position data of the corresponding foreign vehicles are determined.
  • the position data may be determined, for example, from satellite positioning systems such as GPS (Global Positioning System) of the foreign vehicles. Furthermore, the determination of the speed of foreign vehicles on the GPS (Global Positioning System) of the foreign vehicles.
  • GPS Global Positioning System
  • Vehicle and the foreign vehicles allow a collision-free shearing.
  • the invention provides in a further embodiment that the Control unit is designed to determine a gap for the Einschervorgang on-board data.
  • the EGO vehicle can by means of a sensor arranged on the vehicle, such as video, radar and / or Lidar sensors a distance measurement to other vehicles and / or a
  • Vehicles that do not have this communication technology can also be determined.
  • Control unit is designed to determine a gap for the Einschervorgang such a way to use on-board data in combination with received foreign data.
  • the control unit does not only use data that is captured by the vehicle's own sensors - they are also included
  • Satellite positioning system such as GPS (Global Positioning System) combined.
  • GPS Global Positioning System
  • communication means are provided for receiving and / or transmitting data from at least one other vehicle and / or a transmitter from the infrastructure surrounding the vehicle. These means of communication allow receiving and sending data from and to other vehicles in order, for example, also to provide them with data for assisting a log-in process which, for example, foreign vehicles wish to carry out.
  • the invention provides that the
  • Control means are designed, in conjunction with Aktuatorffenn a semi-autonomous or fully autonomous Einschervorgang a vehicle
  • Such actuator means are, for example, longitudinal and / or
  • Transverse guide means for performing a lane change of the vehicle from a first lane to a second lane.
  • a lane change may be generated by the control unit based on the received data for the EGO vehicle
  • the driver is signaled during the Einschervorgangs to be carried out by him a dangerous situation due to the calculated information.
  • a fully autonomous Einschervorgang can be performed by the actuator means, wherein a manual intervention of the driver during the Einschervorgangs at any time
  • control unit is designed to calculate distances between foreign vehicles and / or between foreign vehicles and the vehicle to be calibrated (EGO vehicle). This has the advantage that, for example, in a large
  • control unit is designed to measure vehicle dimensions of the foreign vehicles for the vehicle
  • Vehicle dimensions of the foreign vehicles for example, by
  • control unit is designed to calculate a speed of other vehicles.
  • Time T2 are sent to calculate the speed of the control unit in the vehicle 5. This improves the accuracy of speed data over in-vehicle speedometer data.
  • control unit comprises in a further embodiment of the invention
  • a signaling unit that visually, acoustically and / or haptically signals a Einscherraum a vehicle occupant.
  • the optical signaling is
  • a haptic signaling can be made for example by a vibration signaling.
  • An optical, acoustic and / or haptic signaling can be provided for all driving situations during a Einschervorgangs or overtaking 5.
  • Figure 1 a schematic representation of a
  • Figure 3 a schematic representation of the receiving
  • FIG. 1 shows a schematic representation of a Einschervorgangs a vehicle 15 5 (EGO vehicle) is shown, wherein the EGO vehicle 5, starting from a
  • Lane 2 a Einschervorgang plans in a gap 6 on a lane 1.
  • the vehicle 5 has a device according to the invention comprising a control unit 20 to assist a driver of the vehicle 5 in the complex task of a Einschervorgangs.
  • a> 0 Einschervorgang between two vehicles in flowing traffic is described.
  • the shearing operation of the vehicle 5 is subdivided, for example, into four individual sub-processes, which include "detecting a gap 6", “measuring a gap 6", “securing a blind spot” and the actual "shearing-in process".
  • the> 5 control unit 20 supports the driver in the sub-processes "Detect gap 6", “Measure gap 6” and "Protect blind spot”.
  • the "Einschervorgang” can be performed manually, semiautonomically by the control unit 20 in combination with the driver or fully autonomously by the control unit 20.
  • For a Size calculation and position determination of an existing gap 6 by the control unit 20 may receive this data from at least one other vehicle 3, 4.
  • the control unit 20 For receiving data, the control unit 20
  • the communication means 21 in the vehicle 5 are additionally designed for sending data, whereby data communication between the vehicle 5 and the foreign vehicles 3, 4 is made possible.
  • the vehicle 5 can transmit data to the other vehicle 3, 4, which of a in the
  • control unit 20 can take into account vehicle dimensions of the foreign vehicles 3, 4 as well as their speed on the basis of the data received from a foreign vehicle 3, 4. From the received data, the control unit 20 can calculate the position and size of a gap 6 and assist the driver in the event of a vehicle being shunted by a corresponding signaling.
  • FIG. 2 shows a schematic representation of a roadway with two lanes 1, 2 arranged next to each other, wherein one on the lane 1 is in question
  • the vehicle 5 (EGO vehicle) travels on the lane 2 at a distance behind the lane
  • the control unit 20 arranged in the vehicle 5 receives, for example, data from the foreign vehicle 4, wherein the data includes information about, for example, the speed, the vehicle length, and the position of the foreign vehicle 4.
  • the required information such as distance or speed of the other vehicle 3 to the EGO vehicle 5 are determined in the embodiment by> 0 an on-board sensor system of the EGO vehicle 5, which is described in more detail in Figure 3. It is conceivable to receive the required data directly from the other vehicle 3 and / or by receiving data from the infrastructure.
  • the control unit 20 calculates from the received or detected data of the> 5 other vehicles 3, 4, the position and size of a gap 6 between the
  • Foreign vehicles 3, 4, this information preferably being signaled to the driver of the vehicle 5.
  • a vehicle driver of the vehicle 5 can perform a manual Einschervorgang in a sufficiently large gap 6 due to the signalized information.
  • the vehicle 5 changes from the lane 2 in the gap 6, which has a sufficient safety distance to the foreign vehicles 3, 4.
  • a semi-autonomous Einschervorgang can by the driver with
  • the control unit 20 signals the vehicle driver a possible collision with a
  • FIG. 3 shows a schematic representation of a data flow in plan view, wherein FIG
  • Data (arrow 14, 15, 16) contain information for determining the position and size of a gap 6, for example vehicle positions, speeds of the vehicles, distances between the vehicles, and vehicle sizes.
  • the data (arrow 17, 18, 19) contain, for example, information about speeds of passing> 0 vehicles 3, 4, distances between the vehicles 3, 4 and / or information about the size of a gap 6, possibly also only image data are transmitted.
  • the data (arrow 11 to 19) can be used to calculate the position and size of a gap 6, the number of received data from
  • the position and size of a gap 6 for 0 can determine a collision-free shunting operation of the vehicle 5.
  • a gap 6 For an exemplary position determination and calculation of a gap 6 is based as the starting situation that the vehicle 5 and the other vehicles 3, 4 drive on the lane 1 a speed of 80 km / h. That demand
  • the rear other vehicle 4 moves at the height of the vehicle 5.
  • An available distance to the shearing of the vehicle 5 is 200 m. From this information, it is calculated by the control unit 20 that the center of the gap 6 in question is at a distance of 25 m from the vehicle 5. It
  • Vehicle length of 5 m includes the size of the gap 6 after deduction of each two half car lengths 45 m. It follows that after deducting the vehicle length of the vehicle 5, a safety distance to the preceding foreign vehicle 3 and
  • the signaling means 23 arranged in the vehicle 5 signal the driver of the vehicle 5 the position of the gap 6.
  • the EGO vehicle 5 is accelerated with an average of 2 m / s. After five seconds and about 136 m traveled distance is
  • the vehicle 5 has an on-board sensor 8, the
  • > 5 may include, for example, video, radar and / or lidar sensors to a
  • Another possibility for determining the position and size of a gap 6 between two foreign vehicles 3, 4 is the reception of data from the
  • the vehicle driver of the vehicle 5 can be supported in the gap 6 by the vehicle 5, that the cameras 9a, 9b of the infrastructure data (arrow 17 to 18) via a visually determined gap 6 between two foreign vehicles 3, 4 directly to the Control unit 20 in the vehicle 5 sends.
  • third-party data (arrow 11, 12) sent to the foreign vehicles 3, 4, such as GPS data, can be forwarded to the vehicle 5 and with the detected data (arrow 14, 15) of the vehicle's own sensor system 8 for determining the position and size of a gap 6 are taken into account by the control unit 20.
  • control unit 20 for receiving data (arrow 14 to 16) from a foreign vehicle 3, 4, data (arrow 1 1 to 13) of a
  • Foreign data transmitter 10 or data (arrow 17, 18, 19) from a transmitter from the infrastructure, for example a camera system 9a, 9b, can be found in particular in FIG.
  • the abovementioned sub-process for determining a "blind spot" can likewise be implemented by receiving or sending corresponding data information of the data sources described here 15.
  • the vehicle can
  • C2C car-to-car communication
  • C2I Infrastructure - to reduce communication
  • the vehicle's own sensor system 8 of the vehicle 5 can detect a vehicle approaching from behind on the vehicle 5 and notify the driver of the vehicle that the safety distance is too short.

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

Abstract

L'invention concerne un dispositif pour aider un conducteur de véhicule à se rabattre dans un espace limité, en particulier lors de l'insertion entre deux véhicules à moteur, des moyens permettant de déterminer la position du véhicule par rapport à l'infrastructure qui entoure le véhicule. Selon l'invention, il est prévu une unité de contrôle qui reçoit des données provenant d'au moins un autre véhicule et/ou d'un émetteur se trouvant dans l'infrastructure qui entoure le véhicule et qui est conçue de manière à effectuer, sur la base des informations de données reçues, des calculs concernant un espace limité prévu pour permettre au conducteur de se rabattre.
PCT/EP2010/056854 2009-07-08 2010-05-19 Dispositif pour aider un conducteur de véhicule à se rabattre WO2011003658A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009027535A DE102009027535A1 (de) 2009-07-08 2009-07-08 Vorrichtung zur Unterstützung eines Einschervorgangs bei Fahrzeugen
DE102009027535.5 2009-07-08

Publications (1)

Publication Number Publication Date
WO2011003658A1 true WO2011003658A1 (fr) 2011-01-13

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Cited By (4)

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WO2013187835A1 (fr) 2012-06-14 2013-12-19 Scania Cv Ab Système et procédé d'assistance à un véhicule lors du dépassement d'une file de véhicules
WO2014204381A1 (fr) * 2013-06-20 2014-12-24 Scania Cv Ab Système et procédé d'assistance au changement de voie
WO2016162434A1 (fr) * 2015-04-07 2016-10-13 Valeo Schalter Und Sensoren Gmbh Système embarqué sur un véhicule automobile pour une fonctionnalité de changement de voie, et procédé de contrôle associé
CN110329250A (zh) * 2013-06-26 2019-10-15 罗伯特·博世有限公司 用于在至少两辆汽车之间交换信息的方法

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DE102011106746B4 (de) * 2011-06-28 2015-04-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Spurwechselassistenzsystem
DE202012101687U1 (de) 2012-05-08 2012-05-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Spurwechselassistenzsystem
DE102012023498A1 (de) * 2012-12-03 2014-06-05 Continental Automotive Gmbh Verfahren und System zur selbsttätigen und/oder assistierenden Fahrzeugführung
DE102014207054B4 (de) 2014-04-11 2023-02-23 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrerinformationssystem für Engstellen im Straßenverkehr und Fahrerinformationssystem
WO2016020290A1 (fr) * 2014-08-04 2016-02-11 Continental Teves Ag & Co. Ohg Système pour une conduite de coopération automatisée
DE102015201039B4 (de) * 2014-12-19 2020-09-03 Continental Automotive Gmbh Verfahren zum automatisierten Führen eines Kraftfahrzeugs
DE102015110969A1 (de) 2015-07-07 2017-01-12 Valeo Schalter Und Sensoren Gmbh Verfahren zum Ausgeben eines einen Spurwechsel eines Kraftfahrzeugs betreffenden Fahrhinweises, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102016205141A1 (de) 2015-11-04 2017-05-04 Volkswagen Aktiengesellschaft Verfahren und Fahrzeugkommunikationssystem zum Bestimmen einer Fahrintention für ein Fahrzeug
DE102016205140A1 (de) 2015-11-04 2017-05-04 Volkswagen Aktiengesellschaft Verfahren und Regelungssysteme zur Bestimmung einer Verkehrslücke zwischen zwei Fahrzeugen für einen Fahrstreifenwechsel für ein Fahrzeug
US10081357B2 (en) 2016-06-23 2018-09-25 Honda Motor Co., Ltd. Vehicular communications network and methods of use and manufacture thereof
US10286913B2 (en) 2016-06-23 2019-05-14 Honda Motor Co., Ltd. System and method for merge assist using vehicular communication
US10449962B2 (en) 2016-06-23 2019-10-22 Honda Motor Co., Ltd. System and method for vehicle control using vehicular communication
DE102021100423A1 (de) 2021-01-12 2022-07-14 Bayerische Motoren Werke Aktiengesellschaft Unterstützung eines Spurwechsels eines Kraftfahrzeugs

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DE102008061303A1 (de) * 2007-12-11 2009-06-18 Continental Teves Ag & Co. Ohg Fahrzeugsteuerung unter Verwendung von Fahrzeug-zu-Fahrzeug-Kommunikation

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DE102006043149A1 (de) * 2006-09-14 2008-03-27 Bayerische Motoren Werke Ag Integrierter Quer- und Längsführungsassistent zur Unterstützung des Fahrers beim Fahrspurwechsel
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013187835A1 (fr) 2012-06-14 2013-12-19 Scania Cv Ab Système et procédé d'assistance à un véhicule lors du dépassement d'une file de véhicules
WO2014204381A1 (fr) * 2013-06-20 2014-12-24 Scania Cv Ab Système et procédé d'assistance au changement de voie
CN110329250A (zh) * 2013-06-26 2019-10-15 罗伯特·博世有限公司 用于在至少两辆汽车之间交换信息的方法
WO2016162434A1 (fr) * 2015-04-07 2016-10-13 Valeo Schalter Und Sensoren Gmbh Système embarqué sur un véhicule automobile pour une fonctionnalité de changement de voie, et procédé de contrôle associé
FR3034738A1 (fr) * 2015-04-07 2016-10-14 Valeo Schalter & Sensoren Gmbh Systeme embarque sur un vehcule automobile pour une fonctionnalite de changement de voie, et procede de controle associe

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