WO2019092159A1 - Procédé et dispositif destinés à mettre en œuvre des mesures réduisant le danger en réaction à la reconnaissance d'une circulation à contresens d'un véhicule automobile - Google Patents

Procédé et dispositif destinés à mettre en œuvre des mesures réduisant le danger en réaction à la reconnaissance d'une circulation à contresens d'un véhicule automobile Download PDF

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Publication number
WO2019092159A1
WO2019092159A1 PCT/EP2018/080702 EP2018080702W WO2019092159A1 WO 2019092159 A1 WO2019092159 A1 WO 2019092159A1 EP 2018080702 W EP2018080702 W EP 2018080702W WO 2019092159 A1 WO2019092159 A1 WO 2019092159A1
Authority
WO
WIPO (PCT)
Prior art keywords
wrong
vehicle
route
driving
motor vehicle
Prior art date
Application number
PCT/EP2018/080702
Other languages
German (de)
English (en)
Inventor
Simon GEISLER
Thomas Schindler
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 WO2019092159A1 publication Critical patent/WO2019092159A1/fr

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Classifications

    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • 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
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

Definitions

  • the present invention relates to a method and apparatus for initiating hazard reduction measures in response to detecting wrong-way driving of a motor vehicle.
  • False drivers also known as ghost drivers, cause death, injuries and substantial property damage in the event of an accident. Under a wrong-way driving is here understood contrary to the prescribed direction of travel on a directional roadway.
  • a directional roadway is one of
  • Directional lanes can be found on motorways or expressways, such as federal highways. Wrong trips can be subdivided into forward and reverse, whereby the forward drives are initiated by an incorrect ascent or by turning. More than half of the wrong trips usually start
  • the detection of wrong trips on navigation devices is not always reliable, as the information of the navigation device, such as
  • Modern motor vehicles use inertial sensors, such as acceleration and yaw rate sensors, as well as the steering angle for determining the
  • the wrong-way drivers are detected by sending the GPS positions from the vehicle to the cloud, ie to a vehicle-external computing / storage unit, where they are processed and stored
  • DE 10 2015 213 521 A1, DE 10 2014 208 662 A1 and DE 10 2013 209 502 disclose the basic approach of a cloud-based system for warning external road users of a wrong-way driver.
  • the invention provides an extension of the previously known range of functions.
  • the previously known range of functions of the WDW service provides only a warning of all vehicles involved, the information on the precise location of a wrong-way driver in the context of a cloud-based
  • a driving route is not meant here the driving trajectory in the strict sense, i. It does not mean that the exact course of the driving trajectories within lanes or driving routes are determined and compared. Rather, the driving routes, so for example roads meant.
  • a driving-reducing diversion according to this invention is thus meant that the other vehicle is safely protected from driving in a wrong direction vehicle by choosing a different route.
  • it does not mean the per se known dodging or braking, so that the vehicles do not come into contact as much as possible on a road or driving route traveled together.
  • the driving path is predicted to have the highest probability of its entry as the driving path. But it can also be provided that several driving paths with similar
  • Probability of occurrence can be predicted.
  • hazard-reducing measure a signal to at least one
  • the at least one further vehicle can be requested to drive, at least temporarily
  • a security service such as police and / or fire brigade and / or rescue service can be alerted as a danger-reducing measure.
  • the invention thus increases the overall traffic safety by, for example:
  • the oncoming traffic receives targeted instructions, so that individual vehicles, for example, their journey underbricent by the vehicles are parked at the edge of the road or drive to a nearby parking lot and wait there to clarify the situation and / or
  • the Most-Probable-Path MPP
  • This path can be used to drive vehicles already in the critical area of the appropriate highway, e.g. over
  • a corrected navigation route may cause these vehicles to use a highway ramp that the wrong-way driver has already passed. If multiple routes of the wrong-way driver are possible, it is not absolutely necessary to limit oneself to the most probable route (MPP), especially in the case where the possible routes are similarly probable.
  • MPP most probable route
  • the MPP of the wrong-way driver can be used to end the wrong drive faster, since the corresponding facilities (eg police, fire brigade) learn at what position and at what time the driver on the highway with a certain probability (prediction) are becomes.
  • the corresponding facilities eg police, fire brigade
  • the previous trajectory of the wrongdoer is taken into account for the prediction of the must-probable path.
  • these data can be transmitted and evaluated continuously by a smartphone in the vehicle, or directly by the vehicle itself, via a mobile data transmission to a cloud. Starting from the cloud then all affected oncoming vehicles and the corresponding
  • the invention further relates to a device for introducing
  • the invention provides:
  • Prediction means by which a driving route of the motor vehicle which has been detected to be wrong is predicted
  • Figure 1 is a schematic representation of a connection point of a
  • Figure 2 is a schematic representation of the invention according to a
  • Figure 3 shows a method according to an embodiment of the invention.
  • Figure 1 shows a road or highway 1 with two structurally separate directional lanes 2 and a junction 3. Die
  • Starting point 3 has a ramp 6 and a departure ramp 5. Starting from a common lane 6 is the ramp 6 or driveway for driving on the directional lane 2 of the highway 1, while the departure ramp 5 or departure to exit the directional lane 2 is used.
  • a motor vehicle 20 is shown in different positions.
  • vehicle or motor vehicle here all driven transport, such as passenger cars, trucks, buses, motorcycles, etc. understood.
  • the entrance of the motor vehicle 20 is from an access road 7 in the
  • the motor vehicle 20 does not bend correctly in the lane of the ramp 4, but wrongly in the lane of the departure ramp 5. In this case, the wrong-moving vehicle 20 crosses either a stop line 8 or a stop line 9.
  • the stop line 8 forms the transition for correctly moving vehicles on the exit ramp 5 to the access road.
  • the barrier line 9 separates in the region of the common lane 6, the departure ramp 5 and the ramp 4 from each other.
  • FIG. 1 The situation illustrated with reference to FIG. 1 is only one example of a driveway. Such driveways can be configured or signposted in a variety of ways. However, the present invention is by no means limited to the situation shown in FIG.
  • FIG. 2 schematically shows a motor vehicle 201 which
  • the motor vehicle 201 has sensors such as inertial sensors (longitudinal / lateral acceleration sensors, yaw motion sensors) via GPS sensor and, if appropriate, via further sensors detecting the environment, such as a camera.
  • sensors such as inertial sensors (longitudinal / lateral acceleration sensors, yaw motion sensors) via GPS sensor and, if appropriate, via further sensors detecting the environment, such as a camera.
  • the sensor signals are via a data interface 202, possibly with
  • a vehicle-external computing / storage unit 203 supplied. This is often referred to as a cloud.
  • unit 203 the vehicle-external computing / storage unit 203 supplied. This is often referred to as a cloud.
  • Data 206 that evaluates wrong travel determined in block 203 and predicts, that is predetermined, the travel route of the vehicle 201. Furthermore, in block 205, the driving routes of other vehicles are compared with the predicted driving route. It follows from this that the predicted driving route of the vehicle identified as wrongly driving corresponds to the planned driving routes of another
  • step 204 the driver warned the other vehicle and / or it is proposed and / or set an alternative route. Additionally or alternatively, in step 204, the police and / or the fire department, advantageously indicating the predicated driving path, be notified.
  • FIG. 2 shows that the Wrongway Driver Warning (WDW) algorithm collects the GPS and inertial data (acceleration & rotation rate of the vehicle 201) in the area of motorway ramps and transmits it to a cloud (mobile vehicle computing / transmission) 202 via a mobile data transmission 202.
  • the data can be measured for example by means of a smartphone or the internal sensors of the vehicle.
  • the cloud the data is filtered and assigned to one or more road segments with a specific probability using a map matching algorithm 203.
  • this data is used to assess whether the current trip is a wrong-way drive.
  • step 302 it is determined in step 302 whether or not there is a wrong-way drive. This can be done, for example, as in the aforementioned prior art, for example in response to one or more sensors of the motor vehicle and / or external sensors, when the sensor detects a wrong-way. For example, the passage of a stop line 8 or a stop line 9 of the junction 3 of the directional lane 2 is detected by the motor vehicle 20. This capture may be on video and / or
  • the crossing of the stop line 8 or the stop line 9 can either directly via a camera recording of these lines or indirectly via a pass on any prohibition signs and / or the
  • Directional sign 1 1 are detected.
  • a usually when capturing a False driving central role plays the most accurate detection of the position of the vehicle using GPS and the comparison of the position with a map as accurate as possible.
  • step 302 If it is determined in step 302 that a wrong drive is present, the most probable travel path of the wrong-traveling vehicle is determined in step 303. Likewise, in step 303, the planned travel path or travel route of at least one other vehicle is read in.
  • This predicted driving path is then compared in step 304 with the driving path or travel route of the at least one further vehicle. If these routes at least partially agree, then in step 305 the previously described several times reducing measures, for example, a diversion of the other vehicle and / or a notification from the police and / or fire department, initiated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé destiné à mettre en œuvre des mesures réduisant le danger en réaction à la reconnaissance d'une circulation à contresens d'un véhicule automobile (20, 201). Au cœur de l'invention, résident les étapes du procédé consistant : • à détecter (302) une circulation à contresens d'un véhicule automobile (20, 201), • à prédire (303) au moins un itinéraire de conduite du véhicule automobile, pour lequel une circulation à contresens a été détectée, • à mettre en œuvre (305) les mesures de réduction de danger en fonction de l'itinéraire de conduite prédit, • au moins un autre véhicule étant redirigé par rapport à son itinéraire prévu en tant que mesure de réduction de danger de telle sorte que la concordance entre l'itinéraire de conduite de l'autre véhicule et l'itinéraire de conduite prédit ou les itinéraires de conduite prédits est minimisée. L'invention représente un élargissement de l'étendue fonctionnelle connue jusqu'alors. L'étendue fonctionnelle connue jusqu'alors des services WDW ne prévoit qu'un avertissement de tous les véhicules participants, les informations concernant la position précise du conducteur à contresens dans le cadre d'un avertissement de conducteur à contresens basé sur le nuage ne sont pas davantage utilisées. Le plein potentiel d'un avertissement de conducteur à contresens n'est donc pas exploité. Selon l'invention, d'autres étapes sont alors mises en œuvre pour pouvoir mieux protéger les autres usagers de la route dans le cas d'une circulation reconnue à contresens.
PCT/EP2018/080702 2017-11-09 2018-11-08 Procédé et dispositif destinés à mettre en œuvre des mesures réduisant le danger en réaction à la reconnaissance d'une circulation à contresens d'un véhicule automobile WO2019092159A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102017219911 2017-11-09
DE102017219911.3 2017-11-09
DE102018219110.7 2018-11-08
DE102018219110.7A DE102018219110A1 (de) 2017-11-09 2018-11-08 Verfahren und Vorrichtung zum Einleiten gefahrenreduzierender Maßnahmen in Reaktion auf das Erkennen einer Falschfahrt eines Kraftfahrzeugs

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Publication Number Publication Date
WO2019092159A1 true WO2019092159A1 (fr) 2019-05-16

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WO (1) WO2019092159A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12097881B2 (en) 2021-12-09 2024-09-24 Here Global B.V. Method, apparatus, and system for determining an autonomous vehicle operational strategy when detecting wrong way driving

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DE102020200183A1 (de) * 2020-01-09 2021-07-15 Continental Automotive Gmbh Verfahren zum Erstellen einer probabilistischen Freiraumkarte mit statischen und dynamischen Objekten
DE102020201362A1 (de) 2020-02-05 2021-08-05 Robert Bosch Gesellschaft mit beschränkter Haftung Plausibilisierung von Falschfahrten im Bereich von Straßenverbindungen
DE102020213361A1 (de) 2020-10-22 2022-04-28 Continental Teves Ag & Co. Ohg Verfahren zur Verkehrsbeeinflussung durch ein intelligentes Infrastruktursystem für eine Infrastruktureinrichtung, Recheneinrichtung und Infrastruktursystem für eine Infrastruktureinrichtung

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DE102010056548A1 (de) * 2010-12-29 2012-07-05 Karl-Heinrich Hesse Verfahren und System zur Warnung von Verkehrsteilnehmern vor Geisterfahrern
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DE102014208662A1 (de) 2013-09-06 2015-03-12 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs
DE102014207666A1 (de) 2014-04-23 2015-10-29 Bayerische Motoren Werke Aktiengesellschaft Autonomes Fahren bei einer Gefahrensituation
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DE102014222524A1 (de) * 2014-11-05 2016-05-12 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Verringerung der Unfallgefahr durch Geisterfahrer
DE102014016625A1 (de) 2014-11-11 2016-05-12 Audi Ag Kraftfahrzeug mit Geisterfahrererkennung
DE102015213526A1 (de) 2015-07-17 2017-01-19 Robert Bosch Gmbh Verfahren und System zum Warnen eines Fahrers eines Fahrzeugs
DE102015213521A1 (de) 2015-07-17 2017-01-19 Robert Bosch Gmbh Verfahren und Vorrichtung zum Warnen vor einem falsch fahrenden Fahrzeug
DE102015213481A1 (de) * 2015-07-17 2017-01-19 Robert Bosch Gmbh Verfahren und System zum Warnen vor einem in falscher Fahrtrichtung fahrenden Fahrzeug

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010020404A1 (de) * 2009-08-21 2011-02-24 Navigon Ag Verfahren zum Betrieb eines Navigationssystems in einem Fahrzeug
DE102010056548A1 (de) * 2010-12-29 2012-07-05 Karl-Heinrich Hesse Verfahren und System zur Warnung von Verkehrsteilnehmern vor Geisterfahrern
DE102013209502A1 (de) 2013-05-22 2014-11-27 Robert Bosch Gmbh Verfahren zum automatischen Intervenieren in ein Ego-Fahrzeug bei einer Falschfahrt, insbesondere einer Geisterfahrt
DE102014208662A1 (de) 2013-09-06 2015-03-12 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs
DE102014207666A1 (de) 2014-04-23 2015-10-29 Bayerische Motoren Werke Aktiengesellschaft Autonomes Fahren bei einer Gefahrensituation
DE102014221675A1 (de) 2014-10-24 2016-04-28 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs
DE102014222524A1 (de) * 2014-11-05 2016-05-12 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Verringerung der Unfallgefahr durch Geisterfahrer
DE102014016625A1 (de) 2014-11-11 2016-05-12 Audi Ag Kraftfahrzeug mit Geisterfahrererkennung
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DE102015213521A1 (de) 2015-07-17 2017-01-19 Robert Bosch Gmbh Verfahren und Vorrichtung zum Warnen vor einem falsch fahrenden Fahrzeug
DE102015213481A1 (de) * 2015-07-17 2017-01-19 Robert Bosch Gmbh Verfahren und System zum Warnen vor einem in falscher Fahrtrichtung fahrenden Fahrzeug

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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