WO2019034514A1 - Method and a system for collision avoidance of a vehicle - Google Patents

Method and a system for collision avoidance of a vehicle Download PDF

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Publication number
WO2019034514A1
WO2019034514A1 PCT/EP2018/071596 EP2018071596W WO2019034514A1 WO 2019034514 A1 WO2019034514 A1 WO 2019034514A1 EP 2018071596 W EP2018071596 W EP 2018071596W WO 2019034514 A1 WO2019034514 A1 WO 2019034514A1
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WIPO (PCT)
Prior art keywords
vehicle
collision
trajectory
detected
dynamic conditions
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PCT/EP2018/071596
Other languages
French (fr)
Inventor
Pierre Herman
Maxime PENET
Original Assignee
Valeo Schalter Und Sensoren Gmbh
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Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2019034514A1 publication Critical patent/WO2019034514A1/en

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0953Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0015Planning or execution of driving tasks specially adapted for safety
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0027Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0027Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00274Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0027Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00276Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404Characteristics
    • B60W2554/4045Intention, e.g. lane change or imminent movement

Definitions

  • the present invention refers to a method for collision avoidance of a vehicle.
  • the method comprises the steps of (i) measuring at least one parameter describing the dynamic conditions of the vehicle and predicting a vehicle trajectory in response to the dynamic conditions of the vehicle; (ii) detecting at least one object in a surrounding area of the vehicle and determining at least one parameter describing the dynamic conditions of the detected object relative to the vehicle, wherein the surrounding area of the vehicle includes at least one peripheral region away from the predicted vehicle trajectory; (iii) predicting a potential collision between the vehicle and the detected object on the basis of the dynamic conditions of the vehicle as well as the dynamic conditions of the object; and (iv) taking at least one countermeasure for collision avoidance in response to the predicted potential collision.
  • the present invention further refers to a corresponding computer program product and a corresponding system for collision avoidance of a vehicle.
  • Document WO 2006/053652 A1 describes a method for preventing collisions or reducing the severity of a vehicle collision with the following steps: detecting the velocity and direction of motion of the vehicle and determining a vehicle trajectory of the near future; detecting the position of objects in the surroundings of the vehicle; detecting the speed and the direction of motion of the objects relative to the vehicle; pre-calculating the future position of the objects relative to the vehicle; evaluating the present and future positions of the objects relative to the vehicle; outputting a warning to the driver and/or carrying out an automatic steering and/or braking intervention by means of a vehicle assistance system according to the evaluation in the event it has been determined according to the evaluation that a collision with the object is unavoidable without intervention by the system.
  • the pre-calculation of the future position of the objects relative to the vehicle is based on a recursive filter like e.g. the Kalman filter.
  • a recursive filter like e.g. the Kalman filter.
  • the document also describes a vehicle assistance system for preventing collisions or reducing the severity of a vehicle collision. It is an object of the present invention to provide a method and a system for simple and safe collision avoidance.
  • the method comprises the following steps: (i) measuring at least one parameter describing the dynamic conditions of the vehicle and predicting a vehicle trajectory in response to the dynamic conditions of the vehicle; (ii) detecting at least one object in a surrounding area of the vehicle and determining at least one parameter describing the dynamic conditions of the detected object relative to the vehicle, wherein the
  • surrounding area of the vehicle includes at least one peripheral region away from the predicted vehicle trajectory; (iii) predicting a potential collision between the vehicle and the detected object on the basis of the dynamic conditions of the vehicle as well as the dynamic conditions of the object; and (iv) taking at least one countermeasure for collision avoidance in response to the predicted potential collision.
  • the prediction of a potential collision with an object detected in said peripheral region away from the predicted vehicle trajectory includes determining the location of the potential collision on the vehicle trajectory.
  • the countermeasure for collision avoidance of a collision with such an object detected in said peripheral region away from the predicted vehicle trajectory is taken in response to a presumed potential collision at said determined location.
  • Typical parameter for describing dynamic conditions are velocity, acceleration, etc.
  • the basic idea of the invention is to provide a method for collision avoidance that will offer sufficient time to the corresponding system to take the necessary countermeasure for collision avoidance, especially to anticipate and adjust the speed of the vehicle. This is realized by the previously mentioned estimation of the location of a potential collision with objects from a peripheral region of the "forward-looking" surrounding area of the vehicle.
  • the method comprises the further step of predicting an object trajectory taking the dynamic conditions of the object into account, wherein the location of the potential collision on the vehicle trajectory is the intersection of the vehicle trajectory and the object trajectory.
  • the location of the potential collision is given by a virtual representation of the object located at the intersection of the vehicle trajectory and the object trajectory.
  • the object or at least one of the objects is detected as another vehicle.
  • This vehicle can be a passenger car, a motor bike, a truck, etc.
  • the method comprises the further steps of: detecting a maneuver intention of the other vehicle and the corresponding maneuver type and taking the maneuver intention and the corresponding maneuver type into account when predicting the object trajectory of the other vehicle.
  • Typical maneuvers are lane changing, crossing the lane/road, a turn into the lane, etc.
  • the peripheral region away from the predicted vehicle trajectory of the vehicle driving on a road is another lane of the road or a hard shoulder of the road or another road.
  • the method further comprises the further step of selecting the chronological order of potential collisions with objects which need to be addressed by means of countermeasures.
  • the location of the potential collision is determined in consideration of the outline of the vehicle and/or the outline of the object. This is especially important for big objects and small angles between the two corresponding trajectories.
  • the at least one object is detected by use of a Radar system, a Lidar system, a camera system and/or another adequate sensor system.
  • a Radar system preferably comprises at least one of the following measures: sending out a warning message, performing an automatic braking maneuver and performing an automatic steering maneuver.
  • the method preferably is a method for collision avoidance during autonomous driving of the vehicle.
  • the computer program product according to the invention comprises computer- executable program code portions having program code instructions configured to execute the aforementioned method.
  • the present invention further relates to a system for collision avoidance of a vehicle, which system is configured to perform the following steps: (i) measuring at least one parameter describing the dynamic conditions of the vehicle and predicting a vehicle trajectory in response to the dynamic conditions of the vehicle; (ii) detecting at least one object in a surrounding area of the vehicle and determining at least one parameter describing the dynamic conditions of the detected object relative to the vehicle, wherein the surrounding area of the vehicle includes at least one peripheral region away from the predicted vehicle trajectory; (iii) predicting a potential collision between the vehicle and the detected object; and (iv) taking countermeasures for collision avoidance in response to the predicted potential collision.
  • the prediction of a potential collision with an object detected in said peripheral region away from the predicted vehicle trajectory includes determining the location of the potential collision on the vehicle trajectory, wherein the countermeasure for collision avoidance of a collision with such an object detected in said peripheral region away from the predicted vehicle trajectory is taken in response to a presumed potential collision with such an object at the determined location.
  • the system preferably is a system for collision avoidance during autonomous driving of the vehicle.
  • Fig. 1 shows a top view of a road scene with two vehicles, wherein one of the vehicles comprises a system for collision avoidance according to a preferred embodiment of the invention
  • Fig. 2 shows a top view illustrating an algorithm for trajectory prediction with the two vehicles shown in Fig .1 ;
  • Fig. 3 illustrates a block diagram of a system for collision avoidance according to a preferred embodiment of the invention.
  • Fig. 1 shows a top view of a vehicle 10 driving on a road 12.
  • This vehicle 10 is a motor vehicle, more specifically a passenger car.
  • the road 12 is a multi-carriage way and comprises two lanes 14, 16, a first lane 14 used by the vehicle 10 and a second lane 16 for traffic in the same direction.
  • At the edge of each lane 14, 16 is a hard shoulder 18 of the road 12.
  • Vehicle 10 is driving on the first lane 14 along a path whose further course is given by a predicted vehicle trajectory 22.
  • the vehicle has multiple sensors to detect the surrounding vehicles.
  • the vehicle 10 comprises a sensor system (not shown) for detecting objects 24 (like e.g.
  • the surrounding area 26 comprises a central region along a section of the predicted vehicle trajectory 22 and two peripheral regions 28 left and right from the predicted vehicle trajectory 22.
  • the other vehicle 20 is driving along a path whose further course is given by a predicted object trajectory 28.
  • the vehicle 10 comprises a system (not shown in Figs. 1 and 2) for collision avoidance with detected objects 24, especially other vehicles 10.
  • the system is configured to perform the following four steps: (i) measuring at least one parameter describing the dynamic conditions of the vehicle 10 and predicting the vehicle trajectory 22 in response to the dynamic conditions of the vehicle 10; (ii) detecting objects 24 like the other vehicle 20 in the forward-looking surrounding area 26 and determining at least one parameter describing the dynamic conditions of the detected object(s) 24 relative to the vehicle 10, (iii) predicting a potential collision between the vehicle 10 and the detected object 24, wherein the prediction of a potential collision with an object 24 detected in the peripheral region 28 away from the predicted vehicle trajectory 22 (like e.g.
  • the other vehicle 20 detected at the hard shoulder 18 of the road 12 includes determining the location 32 of the potential collision on the vehicle trajectory 22; and (iv) taking countermeasures for collision avoidance in response to the predicted potential collision, wherein the counter- measure for collision avoidance of a collision with such an object 24 detected in the peripheral region 28 is taken in response to a presumed potential collision with such an object 24 at the determined location 32.
  • Typical countermeasures for collision avoidance may be automatic braking maneuvers and/or automatic steering maneuvers.
  • the location 32 of the potential collision on the vehicle trajectory 22 is determined by predicting an object trajectory 30 taking the dynamic conditions of the object 24 into account, wherein the location 32 of the potential collision on the vehicle trajectory 22 is the intersection of the vehicle trajectory 22 and the object trajectory 30.
  • the location 32 of the potential collision is determined in consideration of the outline of the vehicle 10 and the outline of the object 24.
  • the collision prediction shown in Fig. 1 uses a "least square" trajectory prediction.
  • the sensor system (not shown) for detecting objects 24 (like the other vehicle 20) in the forward-looking surrounding area 26 of the vehicle 10 is a Radar system (Radar: radio detection and ranging), a Lidar system (Lidar: Light detection and ranging) or a camera system like e.g. a 3D-camera system.
  • Radar system Radar: radio detection and ranging
  • Lidar Light detection and ranging
  • camera system like e.g. a 3D-camera system.
  • Fig. 2 shows a top view of a quite similar road scene with the two vehicles 10, 20 shown in Fig.1 .
  • the difference from Fig. 1 is the predicted object trajectory 30, which is arch- shaped according to the maneuver intention of the other vehicle 20, namely a change from the hard shoulder 18 to the (traffic) lane 14 used by the vehicle 10.
  • the system for collision avoidance of vehicle 10 detects this maneuver intention of the other vehicle 20 and the corresponding maneuver type from the dynamic conditions of said other vehicle 20 and takes the maneuver intention and the corresponding maneuver type into account when predicting the object trajectory 24 of the other vehicle 20.
  • the system predicts a different object trajectory 30 of the other vehicle 20 with the result that the intersection of the vehicle trajectory 22 and the object trajectory 30 moves with respect to the location 32 of the potential collision on the vehicle trajectory as determined from Fig. 1 .
  • Fig 3 illustrates a high level block diagram of a system 34 for collision avoidance of a vehicle 10 with objects 24.
  • the collision prediction system 34 is based in the following modules: a perception module 36 to detect the objects 24, a trajectory prediction module 38 to perform trajectory prediction of the objects 24 as well as trajectory prediction of the ego vehicle 10.
  • This system 34 is suitable for a classical trajectories prediction (as shown in Fig. 1 ), just as well as a trajectory prediction including the maneuvers intentions (as shown in Fig. 2).
  • a collision prediction module 40 for predicting a collision between the vehicle 10 and the object(s) 24 uses an algorithm which calculates the probability of shapes collisions, using the data (like position, time, speed, etc.) given by the trajectory predictions.
  • the shape collision algorithm integrates the security margin around the ego vehicle 10 (front, side and rear margin).
  • a corresponding collision detection module 42 calculates for each sampling time of the trajectories predictions (prediction of the vehicle trajectory 22 and predictions of the object trajectories 30), if the projected shape of the vehicle 10/objects 24 collide or not. If no collision is predicted the system 36 will continue with the next detected object (path N).
  • a projection of a virtual object 24' is created by a corresponding module 44: the object 24 or in case of more than one object 24 the object with the highest probability of collision will be projected on the vehicle trajectory 22.
  • This object 24 is sent to a target selection module 46, which determines the object of interest (the object 24 on which the control will be performed by a control module 48). This will allow the control module 48 to regulate the speed, or a maneuver planner module (not shown) to avoid the collision, e.g. by a steering maneuver. All mentioned modules are preferably realized as software modules.
  • the group 50 of modules 38, 40, 42, 44 are used for objects 24 detected in a peripheral region 28 only. Objects 24 detected in the central region along the vehicle trajectory 22 are always objects 24 with high probability of collision. These objects 24 are directly sent from the perception module 36 to the target selection module 46 after their detection.
  • the group 50 of modules 38, 40, 42, 44 can be understood as an upgrade for an existing system with a perception module 36, a target detection module 46 and a controller module 48.
  • the controller module 48 of such an existing system preferably is a typical longitudinal controller with two main functions and corresponding modes:
  • the target selection module 46 is a component upstream the longitudinal controller module 48.
  • the target selection module 46 selects among the numerous detected vehicles 20 or other detected objects 24, which one has to be considered by the longitudinal controller module 48.
  • the longitudinal controller module 48 will be set to the speed control mode and so does not consider any information about detected objects 24 (sometimes called target information).
  • the target selection module 46 selecting objects 24 for the classical distance control of a longitudinal controller module 48 is mainly interested in information on objects 24 on the vehicle trajectory 22 or vehicle lane 14 respectively and does not use information about objects 24 detected away from this trajectory 22 (e.g. objects 24 on side lanes, hard shoulder, etc.).
  • the objective of the additional collision detection is to consider these objects 24 as they can still have an impact on the ego vehicle 10 like e.g. when the other vehicle 20 on the hard shoulder 18 or a side lane beginning to change lanes.
  • the main function of the additional modules 38 to 44 therefore is to enable the system 34 to reduce the collision danger by adjusting the speed of vehicle 10 in advance. To do so, the trajectory prediction module 38 predicts the object trajectory 30 of each object 24, and then the collision prediction module 40 verifies if one of these trajectories 30 will cross the (ego) vehicle trajectory 22.
  • the system 34 creates a virtual object 24' located on the vehicle trajectory 22 (by use of module 44).
  • this "target” will be considered by the target selection module 46 and subsequently by the longitudinal controller 48 if this virtual object 24' is estimated as relevant).
  • the virtual object 24' possesses all the features of the corresponding object 24 but the position of said object 24.
  • Reference signs list vehicle 10 road 12 lane 14 lane 16 hard shoulder 18 other vehicle 20 vehicle trajectory 22 object 24 virtual object 24' surrounding area 26 peripheral region 28 object trajectory 30 location of a potential collision 32 collision prediction system 34 perception module 36 trajectory prediction module 38 collision prediction module 40 collision detection module 42 module for creating virtual objects 44 target selection module 46 control module 48 group of modules 50 no N yes Y

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  • Automation & Control Theory (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

The present invention refers to a method for collision avoidance of a vehicle (10), the method comprising the following steps: measuring at least one parameter describing the dynamic conditions of the vehicle (10) and predicting a vehicle trajectory (22) in response to the dynamic conditions of the vehicle (10); detecting at least one object (24) in a surrounding area (26) of the vehicle (10) and determining at least one parameter describing the dynamic conditions of the detected object (24) relative to the vehicle (10), wherein the surrounding area (26) of the vehicle (10) includes at least one peripheral region (28) away from the predicted vehicle trajectory (22); predicting a potential collision between the vehicle (10) and the detected object (24) on the basis of the dynamic conditions of the vehicle (10) as well as the dynamic conditions of the object (24); and taking at least one countermeasure for collision avoidance in response to the predicted potential collision. The prediction of a potential collision with an object (24) detected in the peripheral region (28) includes determining the location (32) of the potential collision on the vehicle trajectory (22), wherein the countermeasure for collision avoidance of a collision with such an object (24) detected in a peripheral region (28) is taken in response to a presumed potential collision with such an object (24) at the determined location (32). The present invention also refers to a corresponding computer program product for executing the method and a corresponding system (34) for collision avoidance.

Description

Method and a system for collision avoidance of a vehicle
The present invention refers to a method for collision avoidance of a vehicle. The method comprises the steps of (i) measuring at least one parameter describing the dynamic conditions of the vehicle and predicting a vehicle trajectory in response to the dynamic conditions of the vehicle; (ii) detecting at least one object in a surrounding area of the vehicle and determining at least one parameter describing the dynamic conditions of the detected object relative to the vehicle, wherein the surrounding area of the vehicle includes at least one peripheral region away from the predicted vehicle trajectory; (iii) predicting a potential collision between the vehicle and the detected object on the basis of the dynamic conditions of the vehicle as well as the dynamic conditions of the object; and (iv) taking at least one countermeasure for collision avoidance in response to the predicted potential collision.
The present invention further refers to a corresponding computer program product and a corresponding system for collision avoidance of a vehicle.
Document WO 2006/053652 A1 describes a method for preventing collisions or reducing the severity of a vehicle collision with the following steps: detecting the velocity and direction of motion of the vehicle and determining a vehicle trajectory of the near future; detecting the position of objects in the surroundings of the vehicle; detecting the speed and the direction of motion of the objects relative to the vehicle; pre-calculating the future position of the objects relative to the vehicle; evaluating the present and future positions of the objects relative to the vehicle; outputting a warning to the driver and/or carrying out an automatic steering and/or braking intervention by means of a vehicle assistance system according to the evaluation in the event it has been determined according to the evaluation that a collision with the object is unavoidable without intervention by the system. The pre-calculation of the future position of the objects relative to the vehicle is based on a recursive filter like e.g. the Kalman filter. The document also describes a vehicle assistance system for preventing collisions or reducing the severity of a vehicle collision. It is an object of the present invention to provide a method and a system for simple and safe collision avoidance.
This object is achieved by the independent claims. Advantageous embodiments are given in the dependent claims.
According to various aspects of the inventive method for collision avoidance of a vehicle, the method comprises the following steps: (i) measuring at least one parameter describing the dynamic conditions of the vehicle and predicting a vehicle trajectory in response to the dynamic conditions of the vehicle; (ii) detecting at least one object in a surrounding area of the vehicle and determining at least one parameter describing the dynamic conditions of the detected object relative to the vehicle, wherein the
surrounding area of the vehicle includes at least one peripheral region away from the predicted vehicle trajectory; (iii) predicting a potential collision between the vehicle and the detected object on the basis of the dynamic conditions of the vehicle as well as the dynamic conditions of the object; and (iv) taking at least one countermeasure for collision avoidance in response to the predicted potential collision. The prediction of a potential collision with an object detected in said peripheral region away from the predicted vehicle trajectory includes determining the location of the potential collision on the vehicle trajectory. The countermeasure for collision avoidance of a collision with such an object detected in said peripheral region away from the predicted vehicle trajectory is taken in response to a presumed potential collision at said determined location. Typical parameter for describing dynamic conditions are velocity, acceleration, etc.
The basic idea of the invention is to provide a method for collision avoidance that will offer sufficient time to the corresponding system to take the necessary countermeasure for collision avoidance, especially to anticipate and adjust the speed of the vehicle. This is realized by the previously mentioned estimation of the location of a potential collision with objects from a peripheral region of the "forward-looking" surrounding area of the vehicle.
According to a preferred embodiment of the invention the method comprises the further step of predicting an object trajectory taking the dynamic conditions of the object into account, wherein the location of the potential collision on the vehicle trajectory is the intersection of the vehicle trajectory and the object trajectory. In other words: the location of the potential collision is given by a virtual representation of the object located at the intersection of the vehicle trajectory and the object trajectory.
According to another preferred embodiment of the invention the object or at least one of the objects is detected as another vehicle. This vehicle can be a passenger car, a motor bike, a truck, etc.
According to a particularly preferred embodiment of the invention the method comprises the further steps of: detecting a maneuver intention of the other vehicle and the corresponding maneuver type and taking the maneuver intention and the corresponding maneuver type into account when predicting the object trajectory of the other vehicle. Typical maneuvers are lane changing, crossing the lane/road, a turn into the lane, etc.
According to yet another preferred embodiment of the invention the peripheral region away from the predicted vehicle trajectory of the vehicle driving on a road is another lane of the road or a hard shoulder of the road or another road.
According to another preferred embodiment of the invention the method further comprises the further step of selecting the chronological order of potential collisions with objects which need to be addressed by means of countermeasures. By means of the mentioned estimation of the location of a potential collision with objects from a peripheral region it is possible to estimate if and which specific object is the most critical object with respect to the risk of a collision.
According to another preferred embodiment of the invention the location of the potential collision is determined in consideration of the outline of the vehicle and/or the outline of the object. This is especially important for big objects and small angles between the two corresponding trajectories.
According to yet another preferred embodiment of the invention the at least one object is detected by use of a Radar system, a Lidar system, a camera system and/or another adequate sensor system. In this context all these systems are used as surveying systems measuring the distance to a target. The countermeasure for collision avoidance preferably comprises at least one of the following measures: sending out a warning message, performing an automatic braking maneuver and performing an automatic steering maneuver.
The method preferably is a method for collision avoidance during autonomous driving of the vehicle.
The computer program product according to the invention comprises computer- executable program code portions having program code instructions configured to execute the aforementioned method.
The present invention further relates to a system for collision avoidance of a vehicle, which system is configured to perform the following steps: (i) measuring at least one parameter describing the dynamic conditions of the vehicle and predicting a vehicle trajectory in response to the dynamic conditions of the vehicle; (ii) detecting at least one object in a surrounding area of the vehicle and determining at least one parameter describing the dynamic conditions of the detected object relative to the vehicle, wherein the surrounding area of the vehicle includes at least one peripheral region away from the predicted vehicle trajectory; (iii) predicting a potential collision between the vehicle and the detected object; and (iv) taking countermeasures for collision avoidance in response to the predicted potential collision. The prediction of a potential collision with an object detected in said peripheral region away from the predicted vehicle trajectory includes determining the location of the potential collision on the vehicle trajectory, wherein the countermeasure for collision avoidance of a collision with such an object detected in said peripheral region away from the predicted vehicle trajectory is taken in response to a presumed potential collision with such an object at the determined location.
The system preferably is a system for collision avoidance during autonomous driving of the vehicle.
Further features of the invention are apparent from the claims, the figures and the description of figures. All of the features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of figures and/or shown in the figures alone are usable not only in the respectively specified combination, but also in other combinations or else alone. Now, the invention is explained in more detail based on a preferred embodiment as well as with reference to the attached drawings.
In the drawings:
Fig. 1 shows a top view of a road scene with two vehicles, wherein one of the vehicles comprises a system for collision avoidance according to a preferred embodiment of the invention;
Fig. 2 shows a top view illustrating an algorithm for trajectory prediction with the two vehicles shown in Fig .1 ; and
Fig. 3 illustrates a block diagram of a system for collision avoidance according to a preferred embodiment of the invention.
Fig. 1 shows a top view of a vehicle 10 driving on a road 12. This vehicle 10 is a motor vehicle, more specifically a passenger car. The road 12 is a multi-carriage way and comprises two lanes 14, 16, a first lane 14 used by the vehicle 10 and a second lane 16 for traffic in the same direction. At the edge of each lane 14, 16 is a hard shoulder 18 of the road 12. At the hard shoulder 18 next to the lane 14 used by the vehicle 10 there is another vehicle 20. Vehicle 10 is driving on the first lane 14 along a path whose further course is given by a predicted vehicle trajectory 22. The vehicle has multiple sensors to detect the surrounding vehicles. The vehicle 10 comprises a sensor system (not shown) for detecting objects 24 (like e.g. the other vehicle 20) in a forward-looking surrounding area 26 of said vehicle 10. The surrounding area 26 comprises a central region along a section of the predicted vehicle trajectory 22 and two peripheral regions 28 left and right from the predicted vehicle trajectory 22. The other vehicle 20 is driving along a path whose further course is given by a predicted object trajectory 28.
The vehicle 10 comprises a system (not shown in Figs. 1 and 2) for collision avoidance with detected objects 24, especially other vehicles 10. The system is configured to perform the following four steps: (i) measuring at least one parameter describing the dynamic conditions of the vehicle 10 and predicting the vehicle trajectory 22 in response to the dynamic conditions of the vehicle 10; (ii) detecting objects 24 like the other vehicle 20 in the forward-looking surrounding area 26 and determining at least one parameter describing the dynamic conditions of the detected object(s) 24 relative to the vehicle 10, (iii) predicting a potential collision between the vehicle 10 and the detected object 24, wherein the prediction of a potential collision with an object 24 detected in the peripheral region 28 away from the predicted vehicle trajectory 22 (like e.g. the other vehicle 20 detected at the hard shoulder 18 of the road 12) includes determining the location 32 of the potential collision on the vehicle trajectory 22; and (iv) taking countermeasures for collision avoidance in response to the predicted potential collision, wherein the counter- measure for collision avoidance of a collision with such an object 24 detected in the peripheral region 28 is taken in response to a presumed potential collision with such an object 24 at the determined location 32. Typical countermeasures for collision avoidance may be automatic braking maneuvers and/or automatic steering maneuvers.
The location 32 of the potential collision on the vehicle trajectory 22 is determined by predicting an object trajectory 30 taking the dynamic conditions of the object 24 into account, wherein the location 32 of the potential collision on the vehicle trajectory 22 is the intersection of the vehicle trajectory 22 and the object trajectory 30. The location 32 of the potential collision is determined in consideration of the outline of the vehicle 10 and the outline of the object 24. The collision prediction shown in Fig. 1 uses a "least square" trajectory prediction.
The sensor system (not shown) for detecting objects 24 (like the other vehicle 20) in the forward-looking surrounding area 26 of the vehicle 10 is a Radar system (Radar: radio detection and ranging), a Lidar system (Lidar: Light detection and ranging) or a camera system like e.g. a 3D-camera system.
Fig. 2 shows a top view of a quite similar road scene with the two vehicles 10, 20 shown in Fig.1 . The difference from Fig. 1 is the predicted object trajectory 30, which is arch- shaped according to the maneuver intention of the other vehicle 20, namely a change from the hard shoulder 18 to the (traffic) lane 14 used by the vehicle 10. The system for collision avoidance of vehicle 10 detects this maneuver intention of the other vehicle 20 and the corresponding maneuver type from the dynamic conditions of said other vehicle 20 and takes the maneuver intention and the corresponding maneuver type into account when predicting the object trajectory 24 of the other vehicle 20. In other words, the system predicts a different object trajectory 30 of the other vehicle 20 with the result that the intersection of the vehicle trajectory 22 and the object trajectory 30 moves with respect to the location 32 of the potential collision on the vehicle trajectory as determined from Fig. 1 .
Fig 3 illustrates a high level block diagram of a system 34 for collision avoidance of a vehicle 10 with objects 24.
The collision prediction system 34 is based in the following modules: a perception module 36 to detect the objects 24, a trajectory prediction module 38 to perform trajectory prediction of the objects 24 as well as trajectory prediction of the ego vehicle 10. This system 34 is suitable for a classical trajectories prediction (as shown in Fig. 1 ), just as well as a trajectory prediction including the maneuvers intentions (as shown in Fig. 2).
A collision prediction module 40 for predicting a collision between the vehicle 10 and the object(s) 24 uses an algorithm which calculates the probability of shapes collisions, using the data (like position, time, speed, etc.) given by the trajectory predictions.
The shape collision algorithm integrates the security margin around the ego vehicle 10 (front, side and rear margin). A corresponding collision detection module 42 calculates for each sampling time of the trajectories predictions (prediction of the vehicle trajectory 22 and predictions of the object trajectories 30), if the projected shape of the vehicle 10/objects 24 collide or not. If no collision is predicted the system 36 will continue with the next detected object (path N).
If a collision is predicted (path Y), a projection of a virtual object 24' is created by a corresponding module 44: the object 24 or in case of more than one object 24 the object with the highest probability of collision will be projected on the vehicle trajectory 22. This object 24 is sent to a target selection module 46, which determines the object of interest (the object 24 on which the control will be performed by a control module 48). This will allow the control module 48 to regulate the speed, or a maneuver planner module (not shown) to avoid the collision, e.g. by a steering maneuver. All mentioned modules are preferably realized as software modules.
The group 50 of modules 38, 40, 42, 44 are used for objects 24 detected in a peripheral region 28 only. Objects 24 detected in the central region along the vehicle trajectory 22 are always objects 24 with high probability of collision. These objects 24 are directly sent from the perception module 36 to the target selection module 46 after their detection.
In other words the group 50 of modules 38, 40, 42, 44 can be understood as an upgrade for an existing system with a perception module 36, a target detection module 46 and a controller module 48. The controller module 48 of such an existing system preferably is a typical longitudinal controller with two main functions and corresponding modes:
(a) "Speed control" controlling the speed of the vehicle 10 at a driver chosen speed, it is mainly used in case the road 12 is free, and
(b) "Distance control", for maintaining a sufficient distance between the ego vehicle 10 and a target/object 24 on the same lane 14 (e.g. by ensuring a sufficient inter vehicle time).
The target selection module 46 is a component upstream the longitudinal controller module 48. The target selection module 46 selects among the numerous detected vehicles 20 or other detected objects 24, which one has to be considered by the longitudinal controller module 48. In case the road 12 is empty, the longitudinal controller module 48 will be set to the speed control mode and so does not consider any information about detected objects 24 (sometimes called target information).
The target selection module 46 selecting objects 24 for the classical distance control of a longitudinal controller module 48 is mainly interested in information on objects 24 on the vehicle trajectory 22 or vehicle lane 14 respectively and does not use information about objects 24 detected away from this trajectory 22 (e.g. objects 24 on side lanes, hard shoulder, etc.).
The objective of the additional collision detection (module 42) is to consider these objects 24 as they can still have an impact on the ego vehicle 10 like e.g. when the other vehicle 20 on the hard shoulder 18 or a side lane beginning to change lanes.
The main function of the additional modules 38 to 44 (group of modules 50) therefore is to enable the system 34 to reduce the collision danger by adjusting the speed of vehicle 10 in advance. To do so, the trajectory prediction module 38 predicts the object trajectory 30 of each object 24, and then the collision prediction module 40 verifies if one of these trajectories 30 will cross the (ego) vehicle trajectory 22.
In case a potential collision is detected by said module 40, the system 34 creates a virtual object 24' located on the vehicle trajectory 22 (by use of module 44). Thus, this "target" will be considered by the target selection module 46 and subsequently by the longitudinal controller 48 if this virtual object 24' is estimated as relevant). The virtual object 24' possesses all the features of the corresponding object 24 but the position of said object 24.
Reference signs list vehicle 10 road 12 lane 14 lane 16 hard shoulder 18 other vehicle 20 vehicle trajectory 22 object 24 virtual object 24' surrounding area 26 peripheral region 28 object trajectory 30 location of a potential collision 32 collision prediction system 34 perception module 36 trajectory prediction module 38 collision prediction module 40 collision detection module 42 module for creating virtual objects 44 target selection module 46 control module 48 group of modules 50 no N yes Y

Claims

Patent claims
1 . A method for collision avoidance of a vehicle (10), the method comprising the
following steps:
- measuring at least one parameter describing the dynamic conditions of the vehicle (10) and predicting a vehicle trajectory (22) in response to the dynamic conditions of the vehicle (10);
- detecting at least one object (24) in a surrounding area (26) of the vehicle (10) and determining at least one parameter describing the dynamic conditions of the detected object (24) relative to the vehicle (10), wherein the surrounding area (26) of the vehicle (10) includes at least one peripheral region (28) away from the predicted vehicle trajectory (22);
- predicting a potential collision between the vehicle (10) and the detected object (24) on the basis of the dynamic conditions of the vehicle (10) as well as the dynamic conditions of the object (24); and
- taking at least one countermeasure for collision avoidance in response to the predicted potential collision,
characterized in that the prediction of a potential collision with an object (24) detected in the peripheral region (28) includes determining the location (32) of the potential collision on the vehicle trajectory (22), wherein the countermeasure for collision avoidance of a collision with such an object (24) detected in the peripheral region (28) is taken in response to a presumed potential collision with such an object (24) at the determined location (32).
2. The method according to claim 1 , characterized by the further step of predicting an object trajectory (30) taking the dynamic conditions of the object (24) into account, wherein the location (32) of the potential collision on the vehicle trajectory (22) is the intersection of the vehicle trajectory (22) and the object trajectory (30).
3. The method according to claim 1 or 2, characterized in that the object (24) or at least one of the objects is detected as another vehicle (20).
4. The method according to claim 3, characterized by the further steps of:
detecting a maneuver intention of the other vehicle (20) and the corresponding maneuver type and
taking the maneuver intention and the corresponding maneuver type into account when predicting the object trajectory (24) of the other vehicle (20).
5. The method according to any one of claims 1 to 4, characterized in that the
peripheral region (28) away from the predicted vehicle trajectory (22) of the vehicle (10) driving on a road (12) covers
- another lane (16) of the road (12) or
- a hard shoulder (18) of the road (12) or
- another road.
6. The method according to any one of claims 1 to 5, characterized by the further step of selecting the chronological order of potential collisions with objects (24) which need to be addressed by means of countermeasures.
7. The method according to any one of claims 1 to 6, characterized in that the
location (32) of the potential collision is determined in consideration of the outline of the vehicle (10) and/or the outline of the object (24).
8. The method according to any one of claims 1 to 7, characterized in that the at least one object (24) is detected by use of a Radar system and/or a Lidar system and/or a camera system.
9. The method according to any one of claims 1 to 8, characterized in that the
countermeasure for collision avoidance comprises at least one of the following measures:
- sending out a warning message, especially to the driver of the vehicle (10),
- performing an automatic braking maneuver and
- performing an automatic steering maneuver.
10. The method according to any one of claims 1 to 8, characterized in that the method is a method for collision avoidance during autonomous driving of the vehicle (10).
1 1 . The method according to any of claims 1 to 10 characterized by creating a virtual object (24') located on the vehicle trajectory (22) in case a potential collision is detected.
12. A computer program product comprising computer-executable program code
portions having program code instructions configured to execute the method according to one of claims 1 to 1 1 .
13. A system (34) for collision avoidance of a vehicle (10), which system (34) is
configured to perform the following steps:
- measuring at least one parameter describing the dynamic conditions of the vehicle (10) and predicting a vehicle trajectory (22) in response to the dynamic conditions of the vehicle (10);
- detecting at least one object (24) in a surrounding area (26) of the vehicle (10) and determining at least one parameter describing the dynamic conditions of the detected object (24) relative to the vehicle (10), wherein the surrounding area (26) of the vehicle (10) includes at least one peripheral region (28) away from the predicted vehicle trajectory (22);
- predicting a potential collision between the vehicle (10) and the detected object (24); and
- taking countermeasures for collision avoidance in response to the predicted potential collision,
characterized in that the prediction of a potential collision with an object (24) detected in the peripheral region (28) includes determining the location (32) of the potential collision on the vehicle trajectory (22), wherein the countermeasure for collision avoidance of a collision with such an object (24) detected in the peripheral region (28) is taken in response to a presumed potential collision with such an object (24) at the determined location (32).
PCT/EP2018/071596 2017-08-16 2018-08-09 Method and a system for collision avoidance of a vehicle WO2019034514A1 (en)

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