WO2020182812A1 - Procédé de détermination d'un risque d'accident lié à l'humidité pour un moyen de locomotion - Google Patents

Procédé de détermination d'un risque d'accident lié à l'humidité pour un moyen de locomotion Download PDF

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Publication number
WO2020182812A1
WO2020182812A1 PCT/EP2020/056350 EP2020056350W WO2020182812A1 WO 2020182812 A1 WO2020182812 A1 WO 2020182812A1 EP 2020056350 W EP2020056350 W EP 2020056350W WO 2020182812 A1 WO2020182812 A1 WO 2020182812A1
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WO
WIPO (PCT)
Prior art keywords
locomotion
transport
level
ultrasonic sensor
information
Prior art date
Application number
PCT/EP2020/056350
Other languages
German (de)
English (en)
Inventor
Timo Koenig
Simon Weissenmayer
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
Priority to CN202080020826.8A priority Critical patent/CN113573965A/zh
Publication of WO2020182812A1 publication Critical patent/WO2020182812A1/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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60W50/00—Details 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Definitions

  • the present invention relates to a method and an apparatus for
  • the ultrasonic sensors are used to first emit ultrasonic waves into a predefined area of the surroundings of the means of transport to be detected. Based on the ultrasonic waves reflected or scattered by the environment to the ultrasonic sensors, a transit time of the
  • Ultrasonic waves are determined. On the basis of the transit time of the ultrasonic waves, a distance between the means of transport and objects in the vicinity of the means of transport in a respective detection area of the
  • Ultrasonic sensors are determined. One identified in this way.
  • Distance information to objects in the vicinity of the means of transport is obtained in the prior art, for example, from maneuvering assistance systems
  • Means of transport (e.g. in a parking assistance system) received and used.
  • DE 690 16 250 T2 relates to an ultrasound device on a vehicle
  • Pedestrians whereby mainly thermal signals and, on the side, ultrasound signals are also evaluated and comparisons with reference data sets are carried out in connection with noise and other artifacts.
  • DE 10 2005 032 460 A1 describes a device for detecting the impact of a pedestrian on a vehicle, using an ultrasonic sensor system.
  • the present invention proposes one at a time
  • the means of transport can be any suitable material.
  • a road vehicle e.g. motorcycle, car, van, truck
  • a rail vehicle e.g. an aircraft / airplane or a
  • a signal from an ultrasonic sensor of the means of locomotion representing a wetness-related noise level is received.
  • Evaluation unit according to the invention can be part of an independent control unit or part of an existing control unit of the
  • the ultrasonic sensor can preferably be a
  • the ultrasonic sensor used can also be a dedicated ultrasonic sensor for the method according to the invention, which can be attached to the means of locomotion at a position suitable for the method according to the invention with a suitable orientation.
  • the method according to the invention allows the use of ultrasonic sensors with different detection areas and / or sensitivities and / or arrangement positions on the means of transport and / or orientations with respect to the means of transport.
  • Ultrasonic sensor can for example via an on-board network of the
  • Means of locomotion can be directly or indirectly (e.g. via a further control device of the means of locomotion) connected to the evaluation unit according to the invention for information technology.
  • the evaluation unit according to the invention can receive signals generated by the ultrasonic sensor and then process them.
  • the evaluation unit can store the received signals of the ultrasonic sensor immediately after receiving them in an internal and / or external storage unit, which can be connected to the evaluation unit in terms of information technology.
  • the wetness-related noise level represented by the signals of the ultrasonic sensor can in particular be caused by a vehicle driving ahead
  • Means of transport are generated in that the wheels of the vehicle generate a spray when driving on a wet road surface, which can cause a wet hiss over a longer period of time, which can be detected by the ultrasonic sensor of the means of transport.
  • the moisture-related noise level in the signal from the ultrasonic sensor is usually stronger, the more water there is on the road surface. It should be noted that the moisture generated by the ultrasonic sensor The noise level can alternatively or additionally also be caused by the means of transport (i.e. the ego vehicle) itself. It should also be pointed out that the method according to the invention can also be carried out on the basis of a plurality of ultrasonic sensors which are connected to
  • the signals from the plurality of ultrasonic sensors can be received and processed by the evaluation unit via the vehicle electrical system.
  • a level of the wetness-related noise level is compared with a first predefined threshold value.
  • the first predefined threshold value can preferably be stored in the memory unit connected to the evaluation unit and read from there by the evaluation unit and then used in the evaluation unit.
  • the process of matching can be implemented, for example, on the basis of a computer program executed by the evaluation unit, which is set up to cover all of the method steps of the
  • a result of the comparison can, for example, in turn be stored in the memory unit connected to the evaluation unit for subsequent processing.
  • information about the level of an accident risk for the means of transport is determined as a function of the result of the comparison.
  • the first predefined value can be exceeded or not reached
  • Threshold value a high accident risk or a low accident risk can be determined by the evaluation unit due to the wetness-related noise level of the ultrasonic sensor.
  • Threshold value a high accident risk or a low accident risk can be determined by the evaluation unit due to the wetness-related noise level of the ultrasonic sensor.
  • the evaluation unit classifies a potential accident risk higher the more the first predefined threshold value is exceeded by the wetness-related noise level.
  • a plurality of first predefined threshold values can be stored in the memory unit, each of which represents a different level of the moisture-related noise level.
  • Noise level to determine the corresponding level of the accident risk instead of an exclusive differentiation of the level of the accident risk for moisture-related noise levels above the first predefined threshold value, an entire noise level range with regard to the level of the
  • the information about the level of the accident risk in the means of transport is used.
  • Adaptive cruise control and / or an emergency brake assistant can be used, each of which uses information technology via the on-board network of the
  • Means of locomotion can be connected to the evaluation unit according to the invention.
  • the evaluation unit can send the determined information about the level of the accident risk in the form of a signal (e.g. a CAN bus signal, Flexray signal, etc.) to the respective receiver control units in the
  • Ultrasonic sensor aligned in the direction of a main direction of travel or opposite to the main direction of travel of the means of transport. In other words, this means that an axis of a main emission direction (resp.
  • Main reception direction) of the ultrasonic sensor can be aligned essentially horizontally in the direction of travel or against the direction of travel of the means of locomotion.
  • the ultrasonic sensor used for the method according to the invention can also be arranged at other positions of the means of transport (e.g. on the sides of the means of transport). This also does not exclude the possibility that the ultrasonic sensor used is not affected by a coordinate system of the
  • Means of locomotion can be inclined downwards or upwards. Alternatively or additionally, this can also be inclined to the side.
  • a plurality of ultrasonic sensors can be used, which can preferably be arranged both in the main direction of travel and also opposite to the main direction of travel of the means of locomotion.
  • the ultrasonic sensor oriented in the main direction of travel of the means of locomotion is preferably used to detect a wet hissing sound from a vehicle ahead
  • Means of locomotion and the ultrasonic sensor oriented opposite to the main direction of travel of the means of locomotion are preferably used for detecting a wet hiss of the means of locomotion itself.
  • the ultrasonic sensor which is oriented opposite to the direction of travel, can also be used to detect a wet hiss that follows
  • the ultrasonic sensor is sufficient to generate, by means of the ultrasonic sensor, a wet-related noise level corresponding to a wet hiss of one or more preceding means of transport.
  • the ultrasonic sensor oriented opposite to the main direction of travel for the ultrasonic sensor according to the invention This method should be used, as this can generate a wet-related noise level even with a low level of moisture present.
  • the noise level can in particular be caused by the wet hissing of the wheels of the means of locomotion itself.
  • this ultrasonic sensor which is oriented opposite to the main direction of travel of the means of locomotion, can in principle also detect a wet hissing means of locomotion that follows.
  • the method according to the invention can, for example, use the first predefined threshold value and a noise level of the ultrasonic sensor aligned in the main direction of travel of the means of transport
  • Threshold value to be adjusted.
  • third, fourth and more predefined threshold values can also be used for comparing respective wetness-related
  • each Predefined threshold values assigned to ultrasonic sensors can be optimally adapted to the respectively generated moisture-related noise level.
  • the respective results of the comparison of the moisture-related noise levels of the respective ultrasonic sensors can be used alternatively or jointly in the means of transport.
  • the evaluation unit can additionally evaluate which of the results or which of the respective wetness-related noise levels offers sufficient reliability. Depending on this evaluation, the evaluation unit can then determine which results are in which form in the
  • the first predefined threshold value and / or the second are predefined
  • Threshold set as a function of a speed of the means of transport.
  • a plurality of first and second predefined threshold values can be stored, which are dependent on a current
  • Speed of the means of transportation can be addressed and used by the evaluation unit.
  • the evaluation unit can use correspondingly lower threshold values at low speeds of the means of transport and correspondingly higher threshold values at high speeds of the means of transport.
  • purely speed-dependent changes in the wetness-related noise level can be compensated for by using predefined threshold values that are adapted in each case.
  • the information about the level of the accident risk is used to adapt a
  • the information about the level of the accident risk is used to prepare the means of transport for a potential accident. This can lead, for example, to the triggering of so-called pre-crash functions, which are used, among other things, to tighten seat belts in the vehicle.
  • the information about the level of the accident risk can be used to output a warning to a driver of the Means of transport are used. Such a warning can be used to output a warning to a driver of the Means of transport are used. Such a warning can
  • an acoustic and / or a visual and / or haptic warning that informs the driver of the increased risk of an accident.
  • the information about the height of the vehicle for example, an acoustic and / or a visual and / or haptic warning that informs the driver of the increased risk of an accident.
  • the information about the height of the vehicle for example, an acoustic and / or a visual and / or haptic warning that informs the driver of the increased risk of an accident.
  • Means of transport are used.
  • a tread depth and / or a width of tires of the means of transport and / or a speed of the means of transport and / or a current distance of the means of transport to a preceding means of transport and / or following means of transport and / or a weight on the rear axle of the means of transport taken into account.
  • an actual level of the accident risk of the means of transport can thus be determined more precisely.
  • the risk of an accident when using tires with a small tread depth and / or a large width can be classified correspondingly higher, since a braking distance of such a means of locomotion compared to a means of locomotion with a large tread depth and a small width of the tires, especially in connection with a wet road
  • Determining a current accident risk can be taken into account by the evaluation unit. Respective values for the above-mentioned and / or other conceivable influencing factors on a current accident risk can be determined automatically and / or specified by means of a user input.
  • the speed of the means of transport can be determined, for example, based on signals from one or more wheel speed sensors or based on a (satellite-supported) positioning system of the means of transport.
  • a current distance between the means of locomotion and a preceding and / or following means of locomotion can, for example, take place by means of an additional sensor, such as a radar or LIDAR sensor.
  • an additional sensor such as a radar or LIDAR sensor.
  • it is also conceivable to have a distance from other means of locomotion To determine the basis of changing wetness-related noise levels of the ultrasonic sensors of the method according to the invention, in particular if other influencing factors on this noise level, such as
  • Changes in speed of the means of transport and / or changes in an amount of water on the roadway remain essentially unchanged at least for a predefined measurement period.
  • the tread depth and width of the tires of the means of transport can be made known to the evaluation unit, preferably by means of a user input in the means of transport.
  • a respective weight on the rear axle of the means of transport can be determined automatically, for example on the basis of one or more level sensors of the means of transport.
  • the ascertained information about the level of the accident risk of the means of transport is checked for plausibility on the basis of information on the surroundings of further sensors of the means of transport.
  • the spray generated by further means of transport can additionally be detected by a camera and / or a radar and / or a LIDAR sensor of the means of transport.
  • corresponding values for an amount of existing moisture on the roadway can be determined from the output signals of these additional sensors.
  • the evaluation unit according to the invention can then compare the respective values with the values determined by the method according to the invention and thereby check the plausibility of the latter. In this way, the reliability of the method according to the invention can be additionally increased.
  • a device for determining a wet-related accident risk for a means of transport comprises an evaluation unit with a
  • Data input and a data output and can be part of a
  • ASIC application specific integrated circuit
  • FPGA field-programmable gate array
  • processor digital signal processor
  • Microcontroller designed and information technology connected to an internal and / or external memory unit in which by the
  • Evaluation unit received and / or calculated data can be stored for subsequent processing. Furthermore, the evaluation unit be set up to execute method steps according to the invention described above on the basis of a computer program implementing the method steps. The evaluation unit is further set up in connection with the data input, representing a signal from an ultrasonic sensor of the means of transport via an on-board network of the means of transport
  • the on-board network can include, for example, a bus system (e.g. CAN, Flexray, MOST, etc.) which is set up to transmit information between a plurality of control units of the means of transport.
  • the evaluation unit is also set up to compare a height of the noise level with a first predefined threshold value, which is preferably stored in the memory unit connected to the evaluation unit. Depending on a result of the comparison, the evaluation unit is also set up to determine information about the level of an accident risk for the means of transport. This information about the level of the accident risk can be provided by the bus system (e.g. CAN, Flexray, MOST, etc.) which is set up to transmit information between a plurality of control units of the means of transport.
  • the evaluation unit is also set up to compare a height of the noise level with a first predefined threshold value, which is preferably stored in the memory unit connected to the evaluation unit. Depending on a result of the comparison, the evaluation unit is also set up to determine information about the level of an accident risk for the means
  • Evaluation unit in connection with the data output of the evaluation unit are transmitted to suitable receiver control devices in the means of transport, which, among other things, to increase security in
  • Such receiver control units include, for example, adaptive cruise control and / or a
  • Figure 1 is a flow chart illustrating steps of a
  • Figure 2 is a schematic overview of an inventive
  • FIG. 1 shows a flow diagram illustrating steps of a
  • step 100 of the inventive method an inventive receives
  • the evaluation unit which is a microcontroller here, compares in step 200 the noise level of the ultrasonic sensor signal received via the Flexray bus with a first predefined threshold value, which is stored in a memory unit connected to the evaluation unit for information technology. For this purpose, the evaluation unit first determines a current speed of the means of transportation on the basis of a signal from a wheel speed sensor of the means of transportation. A current speed value of 70 km / h is determined here.
  • the evaluation unit selects the first predefined threshold value from a plurality of first predefined threshold values which are each predefined for a specific speed range.
  • the comparison of the height of the noise level with the first predefined threshold value corresponding to the speed of 70 km / h shows here that the noise level is currently above the first predefined one
  • Threshold is.
  • the evaluation unit determines, in step 300, information about the level of a current accident risk for the means of transport.
  • the current speed, information about a depth of a profile of tires of the means of transport, information about the width of the tires and information about a current weight on the rear axle of the means of transport and a distance of the means of transport to a means of transport in front are also taken into account.
  • the distance to the vehicle in front is determined on the basis of a distance radar system of the vehicle.
  • step 400 the information about the very high accident risk is transmitted from the evaluation unit via the Flexray bus to an adaptive cruise control of the means of transport, which automatically reduces the speed of the means of transport due to the very high accident risk.
  • FIG. 2 shows a schematic overview of a device according to the invention in connection with a means of locomotion 80.
  • the device according to the invention comprises an evaluation unit 10, which here is a microcontroller.
  • the evaluation unit 10 has a data input 12 and a
  • the evaluation unit 10 is based on a method implementing the method according to the invention
  • the evaluation unit 10 is information technology connected to an external memory unit 20 in which the data received and / or calculated by the evaluation unit 10 are stored. Via the data input 12, the evaluation unit 10 is in terms of information technology with an ultrasonic sensor 30 oriented in the main direction of travel of the means of locomotion 80 and an ultrasonic sensor 30 oriented opposite to that
  • Ultrasonic sensor 35 connected. From the two ultrasonic sensors 30, 35, the evaluation unit 10 receives signals representing a wetness-related noise level. Furthermore, the evaluation unit 10 is via the data input 12 with a likewise in the main direction of travel
  • Movement means 80 aligned camera 40 information technology connected.
  • the evaluation unit 10 is set up in conjunction with the camera 40, a result of the inventive method described above
  • the evaluation unit 10 is information technology with a
  • Adaptive cruise control 50 of the means of locomotion 80 connected.
  • the result of the method according to the invention checked for plausibility by means of the output signal of the camera 40, is transmitted to the adaptive cruise control 50 the evaluation unit 10 is made available, whereupon the latter adapts a distance control for the means of locomotion 80 accordingly.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Acoustics & Sound (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé et un dispositif servant à déterminer un risque d'accident lié à l'humidité pour un moyen de locomotion (80). Le procédé comprend les étapes suivantes consistant à : recevoir un signal d'un capteur à ultrasons (30) du moyen de locomotion (80) représentant un niveau de bruit lié à l'humidité ; ajuster un degré du niveau de bruit avec une première valeur de seuil prédéfinie en fonction d'un résultat de l'ajustement ; déterminer une information concernant un degré d'un risque d'accident pour le moyen de locomotion (80) ; et utiliser l'information concernant le degré du risque d'accident dans le moyen de locomotion (80).
PCT/EP2020/056350 2019-03-13 2020-03-10 Procédé de détermination d'un risque d'accident lié à l'humidité pour un moyen de locomotion WO2020182812A1 (fr)

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DE102019203419.5A DE102019203419A1 (de) 2019-03-13 2019-03-13 Verfahren zum Ermitteln eines nässebedingten Unfallrisikos für ein Fortbewegungsmittel
DE102019203419.5 2019-03-13

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DE102022200782A1 (de) 2022-01-25 2023-07-27 Motherson Innovations Company Limited Außenrückblickanordnung für Straßenfahrzeuge und Verfahren zur Herstellung einer Außenrückblickanordnung für Straßenfahrzeuge

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DE69016250T2 (de) 1989-04-28 1995-09-21 Nissan Motor Ultraschallgerät zur Geschwindigkeitsmessung gegenüber dem Boden mittels Doppler-Effektes.
DE102005032460A1 (de) 2005-07-12 2007-01-25 Robert Bosch Gmbh Vorrichtung zur Aufprallerkennung eines Fußgängers mit einem Fahrzeug
DE102006037591A1 (de) * 2006-08-11 2008-02-14 Robert Bosch Gmbh Vorrichtung zur Erfassung eines bewegten Objektes
DE102007061952A1 (de) 2007-12-21 2008-06-12 Daimler Ag Verfahren zur Lokalisierung von Fußgängern
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3119819A1 (fr) * 2021-02-16 2022-08-19 Psa Automobiles Sa Méthodes et systèmes pour estimer une probabilité d’occurrence d’un événement redouté lié à l’adhérence d’un véhicule automobile
WO2022175608A1 (fr) * 2021-02-16 2022-08-25 Psa Automobiles Sa Méthodes et systèmes pour estimer une probabilité d'occurrence d'un événement redouté lié à l'adhérence d'un véhicule automobile

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