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
  • 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
• • 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
  • B60W30/10—Path keeping
  • B60W30/12—Lane keeping
• • 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
  • 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
  • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• • 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
  • B60W2050/143—Alarm means
• • 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
  • B60W2050/146—Display means
• • 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
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/18—Steering angle
• • 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
  • B60W2552/00—Input parameters relating to infrastructure
• • 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
  • B60W2552/00—Input parameters relating to infrastructure
  • B60W2552/53—Road markings, e.g. lane marker or crosswalk
• • 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
• • 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
  • B60W2554/801—Lateral 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
  • 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

Definitions

• the invention is based on a method for an assistance system of a vehicle, wherein a lateral area of the vehicle is monitored for objects and the driver is warned of a possible collision of the vehicle with an object.
• driver assistance systems which detect objects and visually and / or acoustically represent these to a driver.
• Such systems use, for example, ultrasonic sensors to detect objects in the environment.
• a system for assisting the driver of a motor vehicle in tunnel drives or narrowed lanes which warns a driver when he steers his vehicle too close to the lane boundary.
• the sensors of a parking assistant are used. These can detect lateral obstacles such as concrete walls or vehicles driving there and warn the driver accordingly in case of imminent collision.
• the system further includes a camera that measures the lane and activates the warning system in the event of a detected reduced lane width.
• infrared LEDs are used, which may for example be mounted in the side mirrors of the vehicle. With the help of these LEDs and suitable sensors, both a lane marking and a fixed obstacle, such as a curb, can be detected. be known. If the vehicle threatens to leave the lane, the driver is warned accordingly. The system sets the warning time according to the lane boundary. Should the vehicle only run over a lane marking, the driver is warned later than if the vehicle threatens to collide with the curb.
• the procedure according to the invention with the characterizing features of the independent claims has the advantage that, to warn a driver of a possible collision with objects in bottlenecks, for example with a construction site guardrail, an estimate of the lane width is carried out on the basis of distance sensors already present in the vehicle. For example, a distance between the vehicle and the first roadway boundary is determined by sensors.
• control unit Based on an assumed lane width, the control unit estimates an approximate distance between the vehicle and the second lane boundary.
• the estimated distance to the second lane boundary is advantageously calculated from a difference between the assumed lane width, the vehicle width of the vehicle, and the measured distance of the vehicle to the first lane boundary.
• the adaptation of the assumed lane width is made directly by taking into account a current measured distance of the vehicle to the first lane boundary.
• the adaptation may also be delayed in time, for example delayed by three seconds, by using an average of last measuring points, for example an average over the last ten measuring points is formed.
• an adaptation of the assumed lane width is advantageously carried out only if a steering wheel angle of the vehicle is less than or equal to 45 °, since at low steering angles a roughly steady course of the lane boundary, for example without major deviations of the lane width, can be assumed. Furthermore, an adaptation is only performed if objects are detected approximately simultaneously on both vehicle longitudinal sides. For example, the vehicle travels on the left lane, with the first lane boundary being a construction site guardrail and the second lane boundary being a second vehicle traveling in parallel. In this way, advantageously, the assumed lane width can be adjusted substantially continuously and the estimated distance to the second lane boundary can be estimated more accurately.
• a multi-level warning can be done, for example, first optically by LEDs, and if the distance is further reduced by briefly pressing the brake.
• the estimate of the distance of the vehicle to the second lane boundary may be used to control the engine torque of the vehicle, for example to adjust a speed of the vehicle and / or initiate a steering operation, thereby advantageously reducing the risk of a possible collision of the vehicle.
• the estimation of the distance of the vehicle to the second lane boundary is made only if the driver has activated the Assi Stenzsystem.
• the estimation of the distance of the vehicle to the second lane boundary may advantageously be carried out automatically in dependence on a speed of the vehicle, for example below a speed limit, which usually applies to construction sites.
• an estimate of the distance of the vehicle to the second lane boundary will be automatically performed by comparing a current position of the vehicle with positions of construction sites, for example For example, the positions of construction sites are determined from traffic information.
• a further assistance system for example traffic sign recognition
• an estimate can be made automatically if, for example, a construction site sign and / or a road constriction sign are detected, wherein an initial value for the assumed traffic lane width can be determined by this assistance system.
• ultrasonic sensors are used, but it can also be used in other embodiments, for example, radar sensors and / or photosensitive sensors.
• Figure 1 is a schematic representation of the method according to the invention with reference to a driving situation with a vehicle and two lane boundaries according to a first embodiment
• Figure 2 is a schematic representation of the method according to the invention with reference to a driving situation with two vehicles according to a second embodiment
• FIG. 3 shows, by way of example, different optical warning scenarios as a function of a vehicle position relative to a first lane boundary and a second lane boundary.
• Figure 1 discloses in a plan view of the schematic representation of the method according to the invention on the basis of the driving situation with a vehicle 12, a first road boundary Fbl, a second road boundary Fb2.
• the roadway boundaries Fbl, Fb2 form a traffic lane for the vehicle 12.
• the vehicle 12 comprises at least one control unit 11 and at least one sensor 14 (1) to 14 (4). Further sensors may be provided, advantageously the sensors 14 (1) to 14 (4) are ultrasonic sensors.
• the vehicle 12 has an approximate vehicle width BFzg, for example, of 170 centimeters.
• objects in the environment of the vehicle 12 can be detected.
• signals are transmitted and received by at least one sensor 14 (1) to 14 (4), and distances to detected objects are calculated from the signal propagation times of the reflected signals.
• the first road boundary Fbl for example a construction site guardrail, is detected at a distance D1 to the vehicle 12 by at least one sensor 14 (1), 14 (4).
• the control unit Based on an assumed lane width BSpur of, for example, 200 centimeters, the control unit estimates an approximate distance D2g between the vehicle 12 and the second lane boundary Fb2.
• the estimated distance D2g is calculated from a difference of the assumed lane width BSpur, the vehicle width BFzg of the vehicle 12 and the distance Dl of the vehicle 12 to the first lane boundary Fbl.
• a lane used by the vehicle 12 is determined.
• the used traffic lane can be recognized, for example, on the basis of the frequency of detection of objects, for example if objects are detected approximately continuously on a first vehicle longitudinal side of the vehicle 12, the lane used by the vehicle 12 can be closed with a high probability.
• approximately continuous objects are construction site barriers, and / or objects with an approximately equal distance from each other which are arranged along the lane.
• a distance Dl between the vehicle 12 and the road boundary Fbl is calculated as a function of at least the last distance Dl 'and / or a steering wheel angle Lw of the vehicle (12) and / or a vehicle speed VFzg.
• the track used by the vehicle 12 may be determined from these sensors, such as by imaging techniques.
• the assumed lane width BSpur is adjusted depending on the lane used by the vehicle 12, for example, for left-hand traffic 200 centimeters for a left lane and 250 centimeters for a right lane are assumed. These values depend on current regulations in individual countries. Therefore, initial values for the assumed lane width BSpur can be adapted individually, for example the current position of the vehicle is determined via GPS and stored country-specific values for the initial value are used and / or radio links (WLAN, UMTS, LTE, etc.) are used
• traffic signs are evaluated by a further assistance system and, if recognized construction site signs, a lane width determined therefrom is used as the initial value.
• a lane width determined therefrom is used as the initial value.
• distances between the vehicle 12 to the first roadway boundary Fbl and to the second roadway boundary Fb2 are measured.
• an estimation of a distance between the vehicle 12 and the second lane boundary Fb2 may be made analogously to the above method.
• Figure 2 discloses in a plan view of the schematic representation of the inventive method in a second embodiment based on a driving situation with the vehicle 12 and another vehicle 30.
• the first road boundary Fbl for example, a continuous Baustellenleitplanke or bollard with an approximately same Distance along the lane, at a distance Dl of the vehicle 12 detected by the sensor 14 (1).
• further sensor 14 FIG. 2
• further vehicle 30 is detected at a distance D2 to vehicle 12.
• the assumed lane width BSpur is adjusted.
• a new assumed lane width BSpur new is calculated from a sum of the measured distances Dl, D2 and the vehicle width BFzg.
• the new assumed lane width BSpur, New is calculated from a sum of approximately 0.8 times the originally assumed lane width BSpur and approximately 0.2 times the sum of the measured distances Dl, D2 and the vehicle width BFzg. Due to the changed assumed lane width BSpur, new, a new estimated distance D2g of the vehicle 12 to the second lane boundary Fb2 is calculated.
• the adaptation of the assumed lane width BSpur is made only if the steering wheel angle of the vehicle 12 is less than or equal to 45 ° and / or if approximately at the same time 12 objects can be detected on both vehicle longitudinal sides, since by low steering angles of the vehicle 12, an approximately continuous course of the lane boundaries Fbl, Fb2, for example, without major deviations of the lane width, can be assumed.
• a driver of the vehicle 12 by optical, acoustic, haptic means and / or a mixture of these depending on the measured distance Dl and / or estimated distance D2g to the first lane boundary Fbl and second lane boundary Fb2 to the distances Dl, D2g of Vehicle 12 pointed to the detected objects.
• a threshold value is undershot
• a warning is issued to the driver by silently switching a multimedia device of the vehicle 12 and / or the brake of the vehicle 12 is automatically actuated and / or the distances D1, D2g are visualized by driving at least one LED.
• the estimation of the distance D2g of the vehicle 12 to the second lane boundary Fb2 is advantageously used for controlling an engine torque of the vehicle 12 to adjust the speed of the vehicle 12 and / or to initiate a steering operation, for example by steering against the direction of the lane boundary Fbl increases the distance Dl between the vehicle 12 and the road boundary Fbl, whereby the risk of a possible collision is reduced.
• a frequency of the measured distances Dl, D2 is adjusted as a function of a current speed of the vehicle 12. For example, at a speed of 80 km / h or 60 km / h of the vehicle 12, the distances Dl and D2 are measured every 50 ms or every 60 ms and the new estimated distance D2g of the vehicle 12 is calculated for the second roadway limit Fb2.
• the estimation of the distance D2g of the vehicle 12 to the second lane boundary Fb2 is performed only when the driver of the vehicle 12 activates the assistance system, for example by pressing a switch and / or activation by means of other means.
• a speed of the vehicle 12 is below a predefinable threshold value, for example 90 km / h, and / or the measured distance Dl between the vehicle 12 and the first road boundary Fbl remains constant for a period of time, for example the period of 10 s is in the range of less than or equal to one meter.
• Another possible condition is a match by a comparison of a current position of the vehicle 12, for example, determined via a GPS signal, with traffic information with positions of construction sites, for example via radio (U KW, WLAN, UMTS, LTE, etc.) transmitted traffic information the construction sites.
• a current position of the vehicle 12 for example, determined via a GPS signal
• traffic information with positions of construction sites, for example via radio (U KW, WLAN, UMTS, LTE, etc.) transmitted traffic information the construction sites.
• An estimation may also be made as a function of another by a further assistance system of the vehicle 12 for traffic sign recognition, for example, when a construction site sign and / or a Fahrbahnverengungsschild be detected.
• a further assistance system of the vehicle 12 for traffic sign recognition for example, when a construction site sign and / or a Fahrbahnverengungsschild be detected.
• an initial value for the assumed lane width can be determined by this assistance system.
• FIG. 3 shows, by way of example, different optical warning scenarios as a function of a vehicle position relative to a first lane boundary Fbl and a second lane boundary Fb2, wherein the distances between the vehicle 12 and the detected objects are visualized by the visual information to the driver of the vehicle 12.
• FIG. 3 shows light units 20, for example ten light elements LI to L10 arranged in series, for example LEDs. These light elements LI to L10 can advantageously shine in different colors or are composed of individual different color elements. For example, the light elements in the colors red 20r or yellow 20g.
• FIG. 3 shows, by way of example, the activation of the light-emitting elements LI to L10 by the control unit 11 for six examples S1 to S6 for different driving positions. NEN of the vehicle 12 between the two lane boundaries Fbl and Fb2, which form the lane.
• Example S1 shows the vehicle 12 in a driving position approximately in the center of the lane.
• the method for determining the estimated distance D2g is activated.
• the measured distance Dl and the estimated distance D2g are greater than a first presettable threshold for a distance at which a warning is given to the driver of the vehicle 12.
• a first presettable threshold for a distance at which a warning is given to the driver of the vehicle 12.
• the two outer light elements LI and L10 are turned on yellow to signal that the traffic lane is narrowed, but there is sufficient space between the two vehicle longitudinal sides and the roadway boundaries Fbl, Fb2.
• the driving position of the vehicle 12 is significantly offset from the lane center in the direction of the first road boundary Fbl.
• the distance is still sufficient, for example between the first and a second predefinable threshold value, a critical driving situation could arise in a further reduction of the distance between the vehicle 12 and the road boundary Fbl.
• the light elements LI and L2 shine in yellow, and L3 in red.
• the distance between the vehicle 12 and the road boundary Fbl continues to decrease, for example, the distance becomes smaller than a third threshold value, as shown in example S3, then the lighting elements LI to L4 light up red, the more critical a driving situation is, the more lighting elements LI to L10 light up and / or the more light elements LI to L10 light up red.
• a third threshold value as shown in example S3
• an additional acoustic and / or haptic indication may advantageously be provided.
• example S4 a situation is illustrated in which the vehicle 12 travels slightly offset in the direction of the assumed road boundary Fb2 compared to the lane center. This is signaled to the driver by the additional lighting of the light element L9 in addition to LI and L10.
• a driving position of the vehicle 12 which is offset from the lane center in the direction of the first lane boundary Fbl is warned earlier than at a driving position of the vehicle 12 is offset in the direction of the second lane boundary Fb2. This is to prevent a possible collision in time by the driver by the early warning sufficient time to correct the driving position is provided.
• the vehicle 12 drives directly along the assumed roadway boundary Fb2, for example a median strip. This is signaled to the driver by the fact that the lighting elements L8 and L9 are lit in yellow and L7 in red. The selected representation that the light-emitting element L10 is not lit, the driver can recognize that it is a drive-over lane boundary.
• those luminous elements are switched on which correspond to an approximate position of the lane boundary Fb2 to the vehicle width BFzg, for example the luminous elements L6 to L8 in example S6.

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• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Physics & Mathematics (AREA)
• Mathematical Physics (AREA)
• Traffic Control Systems (AREA)

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Cited By (6)

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Citations (5)

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• 2012
  • 2012-04-26 DE DE102012206903.8A patent/DE102012206903B4/de not_active Expired - Fee Related
• 2013
  • 2013-02-26 WO PCT/EP2013/053783 patent/WO2013159954A1/fr not_active Ceased

Patent Citations (5)

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