EP2201534A1 - Système de commande pour véhicule automobile - Google Patents

Système de commande pour véhicule automobile

Info

Publication number
EP2201534A1
EP2201534A1 EP08774004A EP08774004A EP2201534A1 EP 2201534 A1 EP2201534 A1 EP 2201534A1 EP 08774004 A EP08774004 A EP 08774004A EP 08774004 A EP08774004 A EP 08774004A EP 2201534 A1 EP2201534 A1 EP 2201534A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
vehicle
distance
data
sensor
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
EP08774004A
Other languages
German (de)
English (en)
Inventor
Karsten Breuer
Thomas Dieckmann
Hartmut Kitterer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF CV Systems Hannover GmbH
Original Assignee
Wabco 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 Wabco GmbH filed Critical Wabco GmbH
Publication of EP2201534A1 publication Critical patent/EP2201534A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/0875—Registering performance data using magnetic data carriers
    • G07C5/0891—Video recorder in combination with video camera
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the invention relates to a vehicle control system for a motor vehicle, comprising at least one driving data sensor for detecting driving data characterizing a driving state of the motor vehicle, at least one camera for detecting surrounding images, an accident data recorder which is set up for buffered recording of the surrounding images, and an electric control for controlling the vehicle Driving data sensor, camera and accident data recorder.
  • the invention relates to a method of operating a motor vehicle comprising the steps of: (a) acquiring driving data, (b) acquiring surrounding images, and (c) buffering the environmental images in an accident data recorder.
  • Such a system is known from DE 199 01 200 A1 and serves to store image data in the event of an accident for the purpose of proof.
  • a disadvantage of the system described therein is that it can be used exclusively for securing evidence.
  • Driver assistance systems serve to reduce the severity of the accident by autonomous partial braking of a motor vehicle, for example a commercial vehicle, shortly before the collision, or to reduce the severity of the accident by autonomous full braking when there is no longer possible avoidance of an obstacle or to completely avoid an accident.
  • a distance sensor is provided as the driving data sensor, for example, which determines a distance to a vehicle in front.
  • Driver assistance systems also often include a camera associated with a lane departure warning system.
  • the camera has a field of view that includes the area in which lane markings of a roadway are visible during normal operation of the motor vehicle.
  • the lane departure warning system detects whether the car leaves its lane and warns the driver if necessary.
  • the invention has for its object to overcome disadvantages in the prior art.
  • the invention solves the problem by a generic vehicle control system in which the electrical control is designed to be in the presence of predetermined driving data and / or environment images to trigger an autonomous braking of the motor vehicle.
  • the invention solves the problem by a generic method comprising the step of verifying whether predetermined driving data and / or environmental images are present in order to initiate autonomous braking of the motor vehicle if so required.
  • An advantage of the invention is that the camera can deliver both images for the accident data recorder as well as for a driver assistance system, such as a lane keeping or a brake assist system that avoids accidents or their consequences thereby reduces that it autonomously, ie without intervention of the vehicle Driver, decelerates.
  • a driver assistance system such as a lane keeping or a brake assist system that avoids accidents or their consequences thereby reduces that it autonomously, ie without intervention of the vehicle Driver, decelerates.
  • the electrical control may also be part of the driver assistance system, whereby the synergy effect is enhanced.
  • the camera is a tracking camera, which is designed to detect a lane marking during operation of the motor vehicle. It is thus advantageously achieved a particularly large synergy, since an additional camera for the lane keeping assistance system is unnecessary.
  • the vehicle control system further comprises a reversing camera for taking back images, wherein the accident data recorder is set up for buffered recording of the reversing images.
  • the accident data recorder is set up for buffered recording of the reversing images.
  • a distance sensor which is designed to acquire distance data of a distance to a vehicle in front is arranged on the motor vehicle and that the accident data recorder is arranged to buffer-record the distance data.
  • the electrical control is designed to detect distance and yaw rate sensor data as driving data.
  • the distance and yaw rate sensor data are considered in the evaluation as to whether autonomous braking is to be performed. This results in a synergy, since the distance and yaw rate sensor must be provided only once.
  • the vehicle control system may also include a distance detection camera, which is arranged so that a distance and a relative speed to a vehicle in front can be determined from the images taken by it.
  • the distance detection camera is arranged such that a rear of the vehicle in front is in its field of vision.
  • the vehicle control system also particularly preferably comprises an acceleration sensor and / or a yaw rate sensor and / or a steering angle sensor, wherein the accident data recorder is set up to also record data that is incoming from these sensors in buffered form. All incoming data is recorded in such a way that they can be reconstructed in their time sequence.
  • the electrical control is in turn designed to detect acceleration sensor data and / or yaw rate sensor data and / or steering angle sensor as driving data and to decide on the basis of this data whether an autonomous braking should be performed.
  • the accident data recorder is designed to store 0.1 to 100 images per second. It is also possible to compress the images before saving in order to save storage space. Suitable compression methods are known in the art.
  • the vehicle control system is equipped with
  • a lane departure warning system that includes a tracking camera configured to detect a lane mark of a traffic lane during operation of the motor vehicle, and an electrical assistance system controller configured to output a lane departure signal when the vehicles leave the traffic lane in operation; includes and / or
  • a distance assist system (B) a distance assist system, the - a distance sensor for detecting a distance of the motor vehicle to a preceding vehicle and an electrical distance assistance controller, which is adapted for outputting a distance signal, when in operation of the car falls below a predetermined minimum distance to the vehicle in front or in a collision critical situation occurs, in which the driver must apply a predetermined braking deceleration, to prevent an impact on the vehicle in front, and (c) an emergency braking system comprising an electric emergency braking system control arranged to autonomously brake the motor vehicle, wherein
  • the electric emergency brake system control is connected to the tracking camera and the distance sensor, so that they allow a redundant detection of the vehicle ahead.
  • the images supplied by the specified cameras can therefore be used on the one hand for an assistance system and, moreover, stored buffered in the accident data memory.
  • the information from environmental sensors provided for the accident data recorder or an automatic driver assistance system (ACC) is advantageously used to calculate the information for the environment Emergency braking function to represent necessary redundancy.
  • the electrical control is designed to generate on the one hand from the recorded images data on tracking and track radius and on the other hand to provide data on the position of lateral objects and their width.
  • the electrical control is also designed to combine the data thus obtained with existing, unchanged data from driving sensors of the driver assistance system so as to obtain redundantly secured, refined object data for the emergency braking system.
  • FIG. 1 shows a motor vehicle according to the invention.
  • the lane 12 includes a lane marker in the form of a lane marker 14 and a lane boundary marker 16.
  • the motor vehicle 10 has a driving data sensor 20 in the form of a distance sensor, which determines a distance A and a relative speed DV to a vehicle 22 traveling in front.
  • the motor vehicle 10 has in the center of a vehicle front, preferably arranged on the windshield, a tracking camera 24 which detects the lane marker 14 and the Fahrstrei- fenbegrenzungsmark ist 16 in a lane keeping camera field of view G.
  • the tracking camera 24 is arranged so that the lane keeping camera field of view G also at least partially detects the preceding vehicle 22.
  • the lane keeping camera 24 and the driving data sensor 20 are connected to an electric controller 26.
  • the electric controller 26 evaluates incoming images from the tracking camera 24 at a frequency of 10 to 50 frames per second and determines, via a programmed algorithm, whether the motor vehicle 10 is approaching or crossing the lane boundary marker 16 in an improper manner. If so, a lane departure warning signal is issued to a driver of the motor vehicle 10 who warns the driver. If a situation is detected by the electric control 26, which leads to an accident with a threshold above a predetermined threshold, then activates the electric control 26 wheel brakes of the vehicle 10 and brakes so without further action of the driver to avert the impending accident or to reduce its consequences.
  • the driving data sensor 20 detects at regular intervals the distance A and the relative speed DV to the vehicle in front 22 and sends this measurement data also to the electric controller 26. Due to the movement of the own motor vehicle 10 and the distance and relative speed data of the preceding vehicle 22 a collision critical situation detected, the electrical control 26 also emits a warning signal to the driver. Such a critical situation can be provided, for example, when the delay to be provided by the driver after his anticipated reaction time exceeds a predetermined threshold.
  • the electric controller 26 writes all or a predetermined selection of the data coming from the driving data sensor 20 or the tracking camera 26 into an accident data recorder 28. Thus, it is possible that each incoming measured value is stored in the accident data writing 28. However, it is possible that every nth measured value, for example every fifth or tenth, is stored.
  • the accident data recorder 28 records the incoming measurement data buffered, which means that measurement data which are older than a predetermined derivative time T, which depends on the storage capacity of the accident data recorder and is for example 20 seconds, are automatically deleted. In an accident of the motor vehicle 10, which is detected for example by a deceleration sensor 29, no data is deleted. The accident history can then be reconstructed from the data previously recorded in the accident data recorder 28.
  • the motor vehicle 10 also has a rear view camera 30, which has a reversing camera field of view R.
  • the reversing camera 30 is also connected to the electric control 26 or directly to the accident data recorder 28.
  • the motor vehicle 10 also has a yaw rate sensor 32 and / or a steering angle sensor 34, which are also in communication with the electrical control 26 and whose data are also recorded by the accident data recorder 28.
  • the steering angle sensor 34 detects a steering angle of a not shown steering wheel.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Time Recorders, Dirve Recorders, Access Control (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un système de commande de véhicule, pour véhicule automobile (10), comprenant (a) au moins un détecteur de données de conduite (20) pour détecter des données de conduite caractérisant un état de conduite du véhicule automobile concerné, (b) au moins une caméra (24, 30) pour détecter des images du milieu environnant, et (c) un enregistreur de données d'accident (28), conçu de manière à enregistrer en mémoire tampon des données du milieu environnant et (d) une commande électrique (28) pour piloter le détecteur de données de conduite (20), la caméra (24, 30) et l'enregistreur de données de conduite (28), ladite commande étant conçue pour déclencher un freinage autonome du véhicule automobile (10), en présence de données de conduite et/ou d'images du milieu environnant prédéfinies. Selon l'invention, la commande électrique (20) est conçue de manière à déclencher un freinage autonome du véhicule automobile (10), en présence de données de conduite et/ou d'images du milieu environnant prédéfinies.
EP08774004A 2007-09-06 2008-07-17 Système de commande pour véhicule automobile Ceased EP2201534A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007042481.9A DE102007042481B4 (de) 2007-09-06 2007-09-06 Fahrzeugsteuersystem für einen Kraftwagen
PCT/EP2008/005818 WO2009033521A1 (fr) 2007-09-06 2008-07-17 Système de commande pour véhicule automobile

Publications (1)

Publication Number Publication Date
EP2201534A1 true EP2201534A1 (fr) 2010-06-30

Family

ID=39790380

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08774004A Ceased EP2201534A1 (fr) 2007-09-06 2008-07-17 Système de commande pour véhicule automobile

Country Status (6)

Country Link
US (1) US8396655B2 (fr)
EP (1) EP2201534A1 (fr)
JP (1) JP2010538378A (fr)
CN (1) CN101765866B (fr)
DE (1) DE102007042481B4 (fr)
WO (1) WO2009033521A1 (fr)

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Also Published As

Publication number Publication date
CN101765866A (zh) 2010-06-30
JP2010538378A (ja) 2010-12-09
WO2009033521A1 (fr) 2009-03-19
US20100256867A1 (en) 2010-10-07
DE102007042481B4 (de) 2022-04-07
US8396655B2 (en) 2013-03-12
DE102007042481A1 (de) 2009-03-12
CN101765866B (zh) 2014-11-26

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