WO2014037457A1 - Procédé et dispositif d'avertissement précoce d'autres usagers de la route - Google Patents

Procédé et dispositif d'avertissement précoce d'autres usagers de la route Download PDF

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Publication number
WO2014037457A1
WO2014037457A1 PCT/EP2013/068396 EP2013068396W WO2014037457A1 WO 2014037457 A1 WO2014037457 A1 WO 2014037457A1 EP 2013068396 W EP2013068396 W EP 2013068396W WO 2014037457 A1 WO2014037457 A1 WO 2014037457A1
Authority
WO
WIPO (PCT)
Prior art keywords
criticality
emergency
maneuver
warning information
driver
Prior art date
Application number
PCT/EP2013/068396
Other languages
German (de)
English (en)
Inventor
Christian Braeuchle
Pascal Kocher
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 WO2014037457A1 publication Critical patent/WO2014037457A1/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
    • 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
    • B60Q1/448—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 specially adapted for vehicles with ABS
    • 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
    • B60Q1/50—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 other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—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 other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B60Q1/535—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 other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • the speed reduction by the assistance system is set to a maximum value of e.g. 35 km / h limited.
  • the invention relates to a method for issuing a warning information and performing a driver-independent emergency maneuver in a motor vehicle, comprising the steps
  • each recipient of this warning information can already be prepared for a probable emergency maneuver.
  • An advantageous embodiment of the invention is characterized in that the criticality of the imminent hazardous situation is evaluated by a first criterion of criticality
  • the warning information is output when a first threshold indicative of the criticality of the hazardous situation is issued by the first
  • the driver-independent emergency maneuver is carried out, if subsequently a second characteristic of the criticality of the dangerous situation
  • Threshold is achieved by a second Complementary Metal Salt and a time interval of predetermined length has elapsed.
  • Threshold is reached by the criticality size
  • the second threshold indicates a higher criticality of the hazardous situation than the first threshold.
  • Thresholds for the same criticality size will ensure that the alert occurs before the emergency maneuver.
  • An advantageous embodiment of the invention is characterized in that the warning information is a perceptible for other road users visual signal. This allows road users in the traffic environment to take early security measures.
  • An advantageous embodiment of the invention is characterized in that the dangerous situation is a possibly imminent collision.
  • An advantageous embodiment of the invention is characterized in that the driver-independent emergency maneuver is an emergency braking or an evasive maneuver.
  • An advantageous embodiment of the invention is characterized in that the imminent danger situation is detected by means of an environment sensor.
  • An advantageous embodiment of the invention is characterized in that in the case of an emergency braking the following traffic is warned by means of a visual signal.
  • An advantageous embodiment of the invention is characterized in that the visual signal is generated by means of the brake lights or hazard warning lights.
  • An advantageous embodiment of the invention is characterized in that in the case of an evasive maneuver the oncoming traffic is warned by means of a visual signal.
  • An advantageous embodiment of the invention is characterized in that the visual signal is generated by means of the headlights or hazard warning lights.
  • the visual signal is generated by means of the headlights or hazard warning lights.
  • the invention comprises a device, in particular a control device, comprising means which are designed for carrying out the method according to the invention.
  • the means are to be understood in particular storage means which contain the program code of the inventive method.
  • the drawing comprises FIG. 1.
  • Fig. 1 shows the sequence of an embodiment of the method according to the invention.
  • Rear-end crashes are a significant contributor to the accident. These are often the result of excessive speed and delayed perception of other road users ahead.
  • the preceding vehicle can also make a contribution to accident prevention, for example by early notification of imminent emergency maneuvers.
  • An associated increased attention of other road users can reduce the risk of accidents.
  • the present invention relates to a method with which in hazardous situations the attention of others Road users on the own vehicle can be steered earlier.
  • the present invention describes a method for warning other road users in a dangerous situation, which arises or may arise from an upcoming emergency maneuver of the own vehicle.
  • An advantage of the invention is the use of existing hardware in the vehicle. There is therefore no need for car-to-car communication methods to warn other road users.
  • the warning is not triggered only with the beginning of an emergency maneuver, but it is initiated even before maneuver commencement.
  • the emergency maneuvers are in particular by actively intervening in the driving dynamics
  • Driver assistance systems such. B. emergency braking or avoidance assistants.
  • the procedure of the method comprises two steps.
  • step 1 an imminent or highly probable emergency maneuver is detected.
  • step 2 a warning is given to other road users before the start of the maneuver. After this warning, if necessary, the emergency maneuver takes place
  • Detection of an upcoming maneuver be realized by an existing triggering criterion is adjusted so that the adapted
  • Tripping criterion is already met before the actual triggering criterion.
  • this can be done by
  • Triggering threshold based on the TTC time.
  • TTC means "time to collision” and stands for the time interval remaining until a collision.
  • emergency braking is applied to a TTC of e.g. ls triggered, it may e.g. when
  • Criterion for detecting an early emergency braking a value greater than ls, for example 1.3 seconds, to be selected. This can be extended to other assistance systems such as evasion assistants.
  • a further embodiment of the invention is the use of a separate method for determining the warning time of other road users, for example the calculation of a time-to-brake or a time-to-steer.
  • environment sensors and / or in-vehicle measured variables and / or car-to-X communication can be used for this purpose.
  • the term "car-to-x communication" means communication between one's own vehicle and any other one
  • time-to-brake is understood to mean the time that remains to prevent an imminent collision by a braking maneuver.
  • time-to-steer describes the amount of time remaining to prevent an imminent collision by a steering maneuver. Another embodiment of the method is the detection of a
  • Auxiliary brake assistant which closes on the basis of the driver's brake pedal operation on emergency situations.
  • an active driver assistance system e.g. an emergency brake system, a maneuver planning, the triggering threshold for warning other road users is reached, but then the driver starts the maneuver itself or another
  • the warning of other road users is preferably via
  • Lighting equipment of the vehicle such as brake lights, hazard lights or headlights.
  • a warning about subsequently or additionally attached to the vehicle visual signal generator is possible.
  • other methods for warning other road users are also possible, for example an acoustic signal or a combination of an acoustic and a visual signal.
  • Terminals are warned visually and / or acoustically and / or haptically.
  • the warning may e.g. be spent on the instrument cluster of a vehicle.
  • the early warning instant according to the invention has an influence on the reaction time of the other road users. This can be subdivided into two cases, which are explained in more detail below:
  • the other road user reacts e.g. by braking directly on the alarm without waiting for an event to occur. This then happens according to the reaction time, i. the time between warning and reaction of the other road user, either before, at the same time or after the occurrence of the event. In any case, the most effective
  • Reaction time ie the time between the occurrence of the event and the Reaction of the other road user, smaller than without the early warning.
  • Example 1 Emergency Brake Assist
  • An automatic emergency braking system without the inventive method allows a maximum speed reduction of 35 km / h. Since the present invention informs other road users prematurely about the imminent emergency braking, a higher speed reduction of the emergency brake assist can be permitted by applying the invention without impairing the safety of a follower vehicle as a whole.
  • the timing of an embodiment of the invention provides e.g. as follows:
  • TTC 2.0s: The environmental sensor detects a potentially imminent collision with another object. However, the driver still has time to avert this by acting independently.
  • TTC l, 5s: The imminent collision is recognized as dangerous because the driver does not react.
  • TTC 1.3s: The backward traffic is indicated by a visual indication e.g. warned by brake light or hazard warning lights.
  • TTC 1.0s: The emergency brake system triggers a delay.
  • the time sequence for an evasion assistant can be configured as follows:
  • the oncoming traffic is by a visual display eg by means of
  • TTC 1.0s: The Dodge Assistant performs an evasive maneuver.
  • the driver of the own vehicle can be forewarned, for example by a brake pressure or partial braking.
  • the sequence of an embodiment of the method according to the invention is shown in FIG.
  • the method begins in block 100 with the detection of an imminent hazardous situation. Subsequently, in block 101, a criticality of the imminent hazardous situation is represented
  • Criticality size K determined. It is then checked in block 102 whether K exceeds a threshold value SW1. If this is not the case, then returns to block 101. If K> SW1 is fulfilled, however, a warning information is subsequently generated in block 103 and an environment warning is triggered. If K continues to increase and exceeds the threshold value SW2 in block 104, a driver-independent emergency maneuver is initiated in block 105. In block 106, the process ends.
  • the second threshold has the same or lower criticality than the first threshold, and waits for an additional condition to be met.
  • This additional condition may be the expiration of a predetermined period of time or the occurrence of another event, eg that the vehicle speed exceeds a predetermined value.
  • the first threshold may correspond to a 95% criticality.
  • the second threshold corresponds to a lower criticality of only 90%, but in addition a time interval of 100 ms must have elapsed before the driver-independent emergency maneuver is performed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

L'invention concerne un procédé pour émettre une information d'avertissement et pour réaliser une manœuvre d'urgence, indépendante du conducteur, d'un véhicule à moteur, ce procédé comprenant les étapes suivantes : – détection d'une situation dangereuse imminente, – génération et émission d'une information d'avertissement en cas de situation dangereuse imminente et - réalisation de la manœuvre d'urgence, indépendante du conducteur, chronologiquement après la génération de l'information d'avertissement.
PCT/EP2013/068396 2012-09-10 2013-09-05 Procédé et dispositif d'avertissement précoce d'autres usagers de la route WO2014037457A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012215952.5 2012-09-10
DE102012215952.5A DE102012215952A1 (de) 2012-09-10 2012-09-10 Verfahren und Vorrichtung zur frühzeitigen Warnung anderer Verkehrsteilnehmer

Publications (1)

Publication Number Publication Date
WO2014037457A1 true WO2014037457A1 (fr) 2014-03-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/068396 WO2014037457A1 (fr) 2012-09-10 2013-09-05 Procédé et dispositif d'avertissement précoce d'autres usagers de la route

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DE (1) DE102012215952A1 (fr)
WO (1) WO2014037457A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107399290A (zh) * 2016-05-20 2017-11-28 奥迪股份公司 安全驾驶辅助系统及其控制方法
DE102017008396A1 (de) * 2017-09-07 2019-03-07 Frank Baumann Eine neue Art Meschenleben durch Akustische und Optische Signale zu Schützen

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014212047A1 (de) * 2014-06-24 2015-12-24 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
DE102016200853A1 (de) 2016-01-21 2017-07-27 Volkswagen Aktiengesellschaft Verfahren und Steuervorrichtung für eine Selbstbremsung eines Kraftfahrzeugs
DE102017216891A1 (de) 2017-09-25 2019-03-28 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bestimmen von Objekten in einem Umfeld eines Egofahrzeugs, Computerlesbares Medium, System, und Fahrzeug umfassend das System
DE102019206876B3 (de) 2019-05-13 2020-10-01 Volkswagen Aktiengesellschaft Warnung vor einer Gefahrensituation im Straßenverkehr
DE102019210979A1 (de) * 2019-07-24 2021-01-28 Volkswagen Aktiengesellschaft Notfallassistenzsystem mit akustischer Außenwarnung
DE102019217107A1 (de) * 2019-11-06 2021-05-06 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Notmanöverassistenzsystems, sowie Notmanöverassistenzsystem
DE102019219108B4 (de) * 2019-12-06 2021-07-01 Volkswagen Aktiengesellschaft Elektrisch betriebenes Kleinstfahrzeug mit einem zumindest teilweise autonomen Fahrerassistenzsystem, sowie Verfahren

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DE19952408A1 (de) * 1999-10-29 2001-05-31 Daimler Chrysler Ag System zur Vorwarnung oder Vorinformation anderer Verkehrsteilnehmer durch ein Fahrzeug
DE10240018A1 (de) * 2002-08-27 2004-03-11 Volkswagen Ag Verfahren und Vorrichtung zur Erzeugung eines Warnsignals vor einer Notmaßnahme eines Fahrerassistenzsystems eines Fahrzeugs
EP2319732A2 (fr) * 2009-11-10 2011-05-11 Valeo Schalter und Sensoren GmbH Dispositif et procédé de surveillance et de signalisation de situations de circulation et d'états de fonctionnement dans un véhicule et dans l'environnement du véhicule
DE102011012793A1 (de) * 2011-03-02 2012-09-06 Volkswagen Ag Fahrerassistenzverfahren und Fahrerassistenzsystem
WO2013083399A1 (fr) * 2011-12-06 2013-06-13 Robert Bosch Gmbh Procédé permettant de surveiller et de signaler une situation de circulation dans l'environnement d'un véhicule

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19952408A1 (de) * 1999-10-29 2001-05-31 Daimler Chrysler Ag System zur Vorwarnung oder Vorinformation anderer Verkehrsteilnehmer durch ein Fahrzeug
DE10240018A1 (de) * 2002-08-27 2004-03-11 Volkswagen Ag Verfahren und Vorrichtung zur Erzeugung eines Warnsignals vor einer Notmaßnahme eines Fahrerassistenzsystems eines Fahrzeugs
EP2319732A2 (fr) * 2009-11-10 2011-05-11 Valeo Schalter und Sensoren GmbH Dispositif et procédé de surveillance et de signalisation de situations de circulation et d'états de fonctionnement dans un véhicule et dans l'environnement du véhicule
DE102011012793A1 (de) * 2011-03-02 2012-09-06 Volkswagen Ag Fahrerassistenzverfahren und Fahrerassistenzsystem
WO2013083399A1 (fr) * 2011-12-06 2013-06-13 Robert Bosch Gmbh Procédé permettant de surveiller et de signaler une situation de circulation dans l'environnement d'un véhicule

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107399290A (zh) * 2016-05-20 2017-11-28 奥迪股份公司 安全驾驶辅助系统及其控制方法
DE102017008396A1 (de) * 2017-09-07 2019-03-07 Frank Baumann Eine neue Art Meschenleben durch Akustische und Optische Signale zu Schützen

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