WO2019092012A1

WO2019092012A1 - Method and device for warning of a hazardous location

Info

Publication number: WO2019092012A1
Application number: PCT/EP2018/080463
Authority: WO
Inventors: Hauke Wendt; Sergey Chirkov
Original assignee: Robert Bosch Gmbh
Priority date: 2017-11-08
Filing date: 2018-11-07
Publication date: 2019-05-16
Also published as: DE102017219807A1

Abstract

A method (10) for warning of a hazardous location (20), characterised by the following features: - when a first vehicle passes through the hazardous location (20), the first vehicle from then on emits a warning (11) at least until the first vehicle has covered a defined first distance (21), and - when a second vehicle, coming towards the first vehicle, receives the warning, the second vehicle in turn emits the warning (12) from then on at least until the second vehicle has covered a defined second distance (22) which exceeds the first distance (21).

Description

Description title

Method and device for warning of a danger location

The present invention relates to a method for warning against a

Endangered place. The present invention further relates to a

corresponding device, a corresponding computer program and a corresponding storage medium.

State of the art

In the field of applied computer science the term

Intelligent Transportation Systems (ITS) The collection, transmission, processing and use of traffic-related data with the aim of organizing, informing and managing traffic using

Information-and communicationtechnologies.

EP1738339B1 discloses a node for exchanging warnings of traffic hazards between vehicles in a transport network, comprising a processor, a memory, a communication device and a set of processor executable instructions for extracting a location of an event and an intended direction of message propagation from a first message , where the intended direction of the

Message propagation specifies how far the first message should geographically propagate from an originating node and in which direction the first message should propagate, making a first determination by comparing the location of the event with a geographical characteristic of the node and comparing the intended direction of the node

Message propagation with a direction determined by the location of the event and by the geographical characteristic of the node and a second one Determining whether to send a second message based on the first determination.

Disclosure of the invention

The invention provides a method for warning of a danger location, a corresponding device, a corresponding computer program and a corresponding computer-readable storage medium according to the independent claims.

The proposed approach is based on the knowledge that an increased use of ITS is expected in the near future. Moderate genus

Systems will be based on infrastructure and vehicle communication.

While location-specific data is typically between infrastructure and

Vehicles to infrastructure (V2I), acute warnings are more likely to be exchanged between vehicles (vehicle to vehicle, V2V). Until the infrastructure can reliably warn all affected road users, passes a certain time, eg. B. for processing and forwarding using V2I. In acute emergency situations, vehicles warn each other about V2V. However, this warning is limited to the immediate need for action (eg emergency braking) and fades away almost immediately. This creates a functional gap between short-term V2V and long-term V2l warning with regard to accident sites or other medium-term dangers. The present embodiments therefore describe a solution which by means of

V2V communication built a virtual infrastructure that is the real one

Infrastructure temporarily replaced.

Every vehicle that recognizes an acute danger situation warns other vehicles by V2V. In order to reliably report a long-standing problem in this way, according to the invention, not only those become

Vehicles that pass directly through the danger location, but also the oncoming vehicles involved in the transmission of the warning message. In order to warn, for example, a warning of an accident site or any other danger location, the passing traffic transports this information a certain distance beyond the scene of the accident, while the relevant warning message z. B. cyclically delivered by V2V. Oncoming traffic receives this information and, to a certain extent, "transports" it back to the scene of the accident and beyond, and the warning message is also sent by V2V to those vehicles that are approaching the scene of the accident.

Oncoming traffic will continue to transmit this warning for a sufficiently long time that affected vehicles will be warned at the designated warning distance in front of the scene of the accident. This warning horizon may correspond to the distance within which these vehicles would also be warned by a conventional V2l communication. He may also be chosen smaller, since he is mainly directly relevant to safety and in terms of any resource burden z. B. does not need to be used for a detour calculation. A basic idea of the proposed method therefore consists in the fact that both in the direction of travel the vehicles passing the accident site and vehicles running in the opposite direction store and pass the warning message over a certain distance and thus travel time. This ensures that the warning message reaches vehicles approaching the accident site in time.

One advantage of this solution lies in the possibility of replacing the physical infrastructure created by the normal traffic via V2V until it can ensure a sufficient warning. Furthermore, the method can ensure coverage even with infrastructure gaps.

The measures listed in the dependent claims are advantageous developments and improvements of the independent

Claim specified basic idea possible. Thus, it can be provided that a vehicle passing the accident site after covering a certain distance when emitting the warning message a

Acknowledgment of receipt requests. A corresponding embodiment is capable to ensure that the warning message is reliably transmitted by oncoming traffic.

Brief description of the drawings

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. It shows:

1 shows the flowchart of a method according to a first

Embodiment.

Figure 2 shows an exemplary application.

3 shows schematically a control device according to a second embodiment. Embodiments of the invention

FIG. 1 illustrates the basic sequence of a method according to the invention

Method, which will now be explained with reference to the application of Figure 2.

If a vehicle identifies a danger location - in the present case an accident location (20) - which has not yet been notified of this vehicle via V2L communication, the vehicle preferably transmits this information to other vehicles by means of periodically transmitted warning messages by means of V2V communication. It should be noted that not all at the

V2V communication participating vehicles must be able to reliably detect the accident site (20) itself. Rather, the message can be delivered in extreme cases, only from a single vehicle, without departing from the scope of the invention.

Vehicles that drive in the direction of travel affected by the accident site, transport the information a defined distance (21) on the

Accident scene (20) addition. This so-called "transport route" (21) is covered by the vehicles in both directions, from the typical Traffic conditions follows a certain period of time over which the

Information is preserved. This mean storage time beyond the

Accident site (20) satisfies the relationship x

where v denotes the average speed and x the transport distance (21).

To increase the accuracy, it is preferable for that over the

Accident scene (20) outgoing vehicle i depending on its

Speed v _{t to determine} a specific transport distance x _t = v _t ^■ t _info to maintain the necessary storage time t _info even at high speeds. The total time thus results in + -, where v the

Average speed of oncoming traffic called. An additional time buffer is created by transporting the information about the warning horizon (25).

Furthermore, it is advantageous if the traffic to the accident site (20) after a defined distance s _ack at least one receipt from

Request oncoming traffic (23). This distance should be chosen sufficiently large that the receiving vehicle has at least the transport distance (21) in front of him to ensure the storage duration of the information. The distance s _ack here should correspond at least to the transport distance (21) plus the expected range (24) of the V2V communication. The inclusion of the V2V range (24) makes sense, so that the vehicles of oncoming traffic actually cover the transport route (21). If there is no acknowledgment of receipt over a longer distance, then the transmission of the message can be aborted. In addition, there should also be a time limit, so that, for example, in a parking lot (26) near the

Accident scene (20) parked vehicles that may be included here, the broadcast of the warning message does not continue unrestricted.

Overall, it makes sense to terminate the broadcast of the alert if the infrastructure itself reports over a period of time which ensures that at least the warning horizon (25) is covered.

Advantageously, this method also works in areas that have no infrastructure coverage. If no infrastructure exists, no resolution of the alert is triggered in this way. A "decaying" of the warning is then ensured by the above-described timeout (timeout) Even with a sporadic detection of the accident scene (20) by the traffic, for example, by only 1% of passing vehicles report the vehicles in the Location are the problem during his

Continued again.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit (30), as the schematic representation of FIG. 3 illustrates.

Claims

claims

A method (10) for warning of a danger location (20),

characterized by the following features:

- When a first vehicle passes the danger location (20), radiates the first vehicle henceforth at least as long as a warning message (11) until the first vehicle has traveled a certain first distance (21), and

if a second vehicle, approaching the first vehicle, receives the warning message, the second vehicle in turn emits the warning message (12) at least until the second vehicle has traveled a certain second distance (22) which exceeds the first distance (21) ,

2. Method (10) according to claim 1,

characterized by the following features:

- If the first vehicle has traveled a certain third distance since passing through the danger location (20), the first one demands

Vehicle when emitting the warning message

Acknowledgment of receipt to (23) and

the first vehicle continues to broadcast the warning message until the acknowledgment is given.

3. Method (10) according to claim 2,

characterized by the following features:

- The warning message is emitted with a limited radio range (24) and

- The third path corresponds to at least the first path (21) plus the radio range (24). Method (10) according to claim 3,

characterized by the following feature:

- The second distance (22) corresponds to at least the third

Distance plus a certain warning distance (25) to the

Danger location (20).

Method (10) according to one of claims 2 to 4,

characterized by the following feature:

the first vehicle stops emitting the warning message at the latest when the first vehicle has traveled a certain fourth distance since requesting (23) the acknowledgment of receipt.

Method (10) according to one of claims 1 to 5,

characterized by the following feature:

- The emission of the warning message is set at the latest when a certain first time has elapsed since passing through the danger location (20).

Method (10) according to one of claims 1 to 6,

characterized by the following features:

- the alert is also issued by an infrastructure to the vehicles and

- The emission of the warning message is set at the latest when a certain second period has elapsed since the issuing of the warning message.

Computer program configured to carry out the method (10) according to one of claims 1 to 7.

Machine-readable storage medium on which the computer program

Claim 8 is stored. Apparatus (30) adapted to carry out the method (10) according to any one of claims 1 to 7.