DE102004056027A1 - Method and vehicle assistance system for preventing collisions or reducing the collision strength of a vehicle - Google Patents

Abstract

The present invention provides a method of preventing collisions or reducing collision strength of a vehicle, comprising the steps of: detecting the speed and direction of travel of the vehicle; Detecting the location of objects in the vehicle environment; Detecting the speed and direction of movement of the objects relative to the vehicle; Predicting the future location of the objects relative to the vehicle; Evaluating the current and future location of the objects relative to the vehicle; Output of a warning to the driver and / or performing an automatic steering and / or braking intervention by an assistance system of the vehicle depending on the evaluation, when a collision with an object according to the evaluation is inevitable without system intervention. The present invention also provides a vehicle assistance system for preventing collisions or reducing the collision severity of a vehicle.

Description

The The present invention relates to a method and a vehicle assistance system for preventing collisions or reducing the collision strength of a Vehicle.

In order to avoid collisions of vehicles, especially motor vehicles, or to reduce the collision severity, methods and devices are known which, in the evaluation of the environment information generated via sensors, merely focuses on the object representing the main hazard, eg a vehicle. Such an automatic braking system of a wheeled motor vehicle is in the EP 1 323 603 A2 described.

This The known system has a collision avoidance judgment section which is based on a relative connection between your own Vehicle and a preceding vehicle based. On that basis a judgment is made, whether a possible Collision by the operation the steering wheel and a brake pedal is avoidable or not.

Furthermore has this known system over a collision avoidance estimation section, which makes an estimate based on the relative connection after the lapse of a predetermined time from the time of detection of relative connection a possible Collision by pressing at least the steering wheel and / or the brake pedal is avoidable. When the collision avoidance estimation section estimates that the possible Collision is avoidable, a lower braking force is generated, and when the collision avoidance judgment section judges that the possible Collision is unavoidable, a higher braking force is generated. at the estimate However, the assessment of the traffic situation is merely a matter of course the preceding or preceding vehicle detects and flows in the Assessing the traffic situation with one.

It is therefore an object of the present invention, a method and a vehicle assistance system for the prevention of collisions or Reduction of collision strength provide a vehicle, thereby improving the safety of the vehicle occupants is further increased.

According to the invention this Task by a method having the features of the claim 1 and a vehicle assistance system having the features of the patent claim 15 solved.

The The idea underlying the present invention is in particular in it, information about the environment of the vehicle, not just a major hazard Object or vehicle to use. This environment information will be recorded and evaluated to explicitly known free spaces for evading, where appropriate while reducing the speed of the vehicle or explicitly known objects or vehicles that dodge into a particular or any possible Exclude direction, to identify.

Thereby is the intervention of a vehicle assistance system, for example by warning to the driver or by specific braking and / or Steering interventions comprehensively adapted to an acute traffic situation.

• – Erfassen zumindest der Geschwindigkeit und Bewegungsrichtung des Fahrzeugs als Bewegungsgrößen des Fahrzeugs;
• – Detektieren der Lage von Objekten im Fahrzeugumfeld;
• – Erfassen zumindest der Geschwindigkeit und der Bewegungsrichtung der Objekte relativ zum Fahrzeug als Bewegungsgrößen der Objekte;
• – Vorausberechnen der zukünftigen Lage der Objekte relativ zum Fahrzeug anhand der erfassten Bewegungsgrößen;
• – Bewerten der gegenwärtigen und zukünftigen Lage der Objekte relativ zum Fahrzeug; und
• – Ausgabe einer Warnung an den Fahrer, um ihn zum Lenken und/oder Bremsen des Fahrzeugs aufzufordern, oder Durchführung eines automatischen Lenk- und/oder Bremseingriffs durch ein Assistenzsystem des Fahrzeugs in Abhängigkeit der vorangehenden Bewertung, wenn eine Kollision mit einem Objekt gemäß der vorangehenden Bewertung ohne Systemeingriff unausweichlich ist.

In the present invention, the problem mentioned at the outset is solved, in particular, by providing a method for preventing collisions or reducing the collision strength of a vehicle with the steps:

• Detecting at least the speed and direction of movement of the vehicle as movement quantities of the vehicle;
• - Detecting the location of objects in the vehicle environment;
• Detecting at least the speed and the direction of movement of the objects relative to the vehicle as movement quantities of the objects;
• - predicting the future position of the objects relative to the vehicle based on the detected movement quantities;
• - evaluating the current and future location of the objects relative to the vehicle; and
• Issuing a warning to the driver to prompt him to steer and / or braking the vehicle, or performing an automatic steering and / or braking intervention by an assistance system of the vehicle as a function of the preceding evaluation when a collision with an object according to the preceding Evaluation without system intervention is inevitable.

In the dependent claims find advantageous developments and refinements of present subject of the invention.

According to a preferred development, the prediction of the future position of the objects takes place relative to the driving tool by means of a recursive filter, in particular by means of a Kalman filter. The use of a Kalman filter for predicting the movement of a vehicle or an object makes it possible to easily calculate the forecasts. In addition to a conventional Kalman filter is The use of other tracking and filtering methods conceivable, for example, the use of so-called Extended Kalman filters, Unscented Kalman filters or particle filters.

The Accuracy of the prediction of the future position of the objects let yourself improve by adding more motion variables of the vehicle and / or of the objects and taken into account in the pre-calculation be, for example, the acceleration vehicle or the acceleration the objects.

According to one Another preferred development is the detection of the speed and the direction of movement of the vehicle by means of wheel speed sensors, preferably with the aid of sensor information of a yaw rate sensor, as well as of vehicle longitudinal and or lateral acceleration sensors. This has the advantage of the vehicle speed and the direction of movement of the vehicle even during a spin operation or detect an incipient spinning process of the vehicle to be able to around the vehicle attitude relative to the objects surrounding the vehicle for one Predict calculation to be able to.

According to one Another preferred development flows more than a detected object in the evaluation of the future Location of the objects relative to the vehicle with a. Thus are possible alternative rooms for the Vehicle not only under the main hazard object considered, but be possible all objects in the periphery of the vehicle in the calculation a braking or off maneuver of the vehicle with calculated.

According to one Another preferred development is the detection of the situation of objects in the vehicle environment by means of radar, lidar, video and / or Ultrasonic sensors. In this way, objects can be beneficial in their situation regarding of the vehicle over optical sensors (lidar, video sensors) and / or high-frequency technical Sensors (radar, ultrasonic sensors) are identified, where if necessary, a combination of the sensors is used, such as a video sensor for detecting the position and Movement of the objects relative to the vehicle and a radar sensor for detecting the speed and the distance relative to Vehicle. In addition, can also a satellite-based Navigation system, in particular the GPS or Galileo system, for To be deployed using an electronic road map information about standing objects on the roadside, over the Road guidance and over the Number of lanes can deliver. This additional information can be found in the evaluation of the location of the detected objects and in the forecast the future Flow of the objects and thus a more accurate rating or a more accurate forecast the future situation allow the objects.

According to one Another preferred development is exclusively one activity the steering device of the vehicle or an actuation of the braking device the vehicle or a combined operation of the steering and braking of the Vehicle. The vehicle assistance system evaluates the traffic situation the shape that a braking process to avoid an accident could contribute if necessary, on a slippery road, but a passing past the object Steering maneuver success promises, so only one is carried out. is an evasion due to the objects around the vehicle already are given in the direct periphery of the vehicle, or itself Approach this accordingly not possible, so only the operation remains the braking device, even if an accident is no longer avoided can be at least the speed difference between the Vehicle and lying in the direction of movement of the vehicle object to minimize.

According to one Another preferred development will be in the operation of the Brake device individual wheels the vehicle selectively and independently braked each other. It is advantageous in particular that by the selective braking of only one wheel stabilizes the vehicle or deliberately put into rotation about its vertical axis can be maneuvered into a clearance to avoid a collision become.

According to one Another preferred development by an active suspension system for Roll and pitch stabilization of the vehicle by bracing the Landing gear wheel forces at the wheels at least one wheel axle influenced such that due to a set toe angles on the wheels produces different lateral forces and a resulting yawing moment is built up. This yawing moment can be set up specifically as a steering intervention, to maneuver the vehicle for collision avoidance in a free space.

According to a further preferred development, an evaluation takes place before the steering and / or braking device of the vehicle is actuated by the assistance system, with which object the least collision consequences, in particular personal injury, for a collision which may be inevitable even during an intervention of the assistance system. occur. Furthermore, the evaluation may provide a classification of the objects, for example, whether this involves a stationary or moving object or a person, a passenger car, a truck, a guardrail, a tunnel wall, etc. This has the advantage that the system is in a worst-case scenario, ie an inevitable inevitable impending Accident, the object selected by the vehicle assistance system as an accident opponent, in which the least accident consequences for involved persons are to be expected.

According to one Another preferred development is at one after the evaluation Collision of the collision opponents identified as inevitable with the lowest relative speed to the vehicle the assistance system selected. By This selection advantageously minimizes the possible consequences of accidents.

According to one Another preferred development is in the evaluation by the assistance system to be effected actuation of the steering and / or braking device of the vehicle included. This results in the advantage that one possible Braking or an evasive maneuver, which is performed by the vehicle assistance system in the calculation or evaluation of the traffic situation, i. in particular the movement trajectories of the objects is included in order to avoid a collision or to mitigate the collision sequences.

According to one Another preferred development, the maximum lateral acceleration and / or the maximum delay of the vehicle as limits of liability in the assessment before activity the steering and / or braking device taken into account by the assistance system. When assessing the traffic situation, especially the future Location of the objects relative to the vehicle are consequently only for the vehicle physically possible delays or steering corrections by the assistance system included in the calculation. A controlled stable vehicle condition becomes so advantageous Provided.

According to one Another preferred development is in the limit value consideration included in the evaluation of the coefficient of friction of the carriageway, in particular a distinction is made between dry and wet roads. The stiction the tire of the vehicle on the roadway is in particular by Significantly reduced moisture on the road, from which the possibility only a reduced braking delay and a less hard avoidance maneuver resulting from the vehicle assistance system. To detect a wet Lane exists, for example, the possibility of information a rain sensor for wiper control access, thereby direct rain or spray water can be identified to the parameter set in the vehicle assistance system for one use wet roadway.

According to one Another preferred development is an actuation of Steering device of the vehicle only if it causes a collision with a Object can be avoided or reduced in its strength. This results in the advantage that an intervention in the steering system is omitted if there is no chance of evading and only a braking intervention to reduce the consequences of accidents expedient is.

According to one Another preferred development is the assistance system of Vehicle with assistance systems of objects, in particular others Vehicles, and take with them a common rating before so that the vehicle and the objects matched steering and / or perform braking interventions by their assistance systems. By the advantageous link the vehicle assistance systems, which exchange information with each other and one on a common assessment of the traffic situation based steering and / or braking intervention of the vehicle and the other vehicles, a coordinated braking / evasive maneuver based the traffic situation of participating vehicles with vehicle assistance system respectively.

In The drawings are traffic situations for explaining embodiments of the invention and in the following description explained in more detail.

It demonstrate:

1 A schematic representation of a traffic situation in plan view for explaining an embodiment of the present invention;

2 a schematic representation of another traffic situation for explaining an embodiment of the present invention;

3 a schematic plan view of a traffic situation with a resulting additional lane for explaining an embodiment of the present invention; and

4 a schematic plan view of a traffic situation with three lanes for explaining an embodiment of the present invention.

In the same reference numerals designate the same or functionally identical Ingredients.

In the schematic plan view of a traffic situation in 1 is a vehicle 10 shown. The vehicle 10 is located on the left lane C of a road provided with two lanes B, C and a lane A, which laterally from crash barriers 11 is limited. The vehicle 10 has an assistance system which, using ambient sensors, such as radar, lidar, video, and / or ultrasonic sensors, objects including their movement, lanes and clearances detected in the vehicle environment. In addition, the assistance system of the vehicle 10 a device for detecting the speed and direction of movement of the vehicle 10 and means for detecting the speed and direction of movement of objects 11 . 12 . 13 . 14 in the vehicle periphery at least relative to the vehicle.

In addition, a computer unit for predicting the future location of the objects 11 . 12 . 13 . 14 at least relative to the vehicle part of the assistance system of the vehicle 10 , In doing so, both the objects 11 . 12 . 13 . 14 as well as the corresponding resulting free spaces, for example, by a Kalman filter or other tracking method including a prediction of their position and movement, ie the movement trajectories in the near future, ie calculated up to about 20 seconds in advance. This is followed by an assessment of the current and the predicted future location of the objects 11 . 12 . 13 . 14 and according to the free space relative to your own vehicle 10 with regard to their influence on the driver's remaining options for action if he receives a warning from the assistance system and / or the assistance system by means of an automatic braking and / or steering intervention in order to avoid collisions or to reduce the collision consequences. Thus, consideration is given to the evaluation of the current and pre-calculated future location of the objects 11 . 12 . 13 . 14 relative to the vehicle 10 ,

In such an assistance system for collision avoidance or reduction of collision strength, both braking and evasive maneuvers are to be taken into consideration as possible interventions by both the driver and the assistance system. In particular, the calculation of meaningful warning or intervention times for or by the assistance system of the vehicle 10 Depending on the situation, it can be estimated which of the two possible actions braking or avoiding or a combination of both can still avoid a collision.

to Characterization of both possibilities become z. Two times ttb, i. the remaining time until the last possible Collision avoidance by braking, and tta, i. the remaining one Time to the last possible Collision avoidance by avoidance, used. Especially at higher Speeds can usually still be avoided if the remaining No more time for a braking is sufficient. Through a wider use of environmental information, i.e. in particular a more detailed detection of objects in the vehicle environment including their movement, can certain Action options are excluded. The correspondingly narrowed Possibilities of a Intervention by the driver indicated by the assistance system or Automated by the assistance system can be considered accordingly.

According to the traffic situation in 1 the vehicles are moving 12 and 13 in the right lane B at about the same speed. That in front of the vehicle equipped with the assistance system 10 located vehicle 14 on the left lane C is significantly slower than the vehicle 10 , Due to the left guardrail 11 and the other vehicles 12 . 13 on the right lane B exists for the on the preceding vehicle 14 approaching vehicle 10 not the possibility to dodge to the left or to the right to avoid a collision due to the speed surplus of the vehicle 10 to get around. In the traffic situation according to 1 Dodge thus eliminates, ie the time tta can not be considered. The assistance system of the vehicle can thus only use the time ttb, ie only perform a braking maneuver, in order to collide with the vehicle in front 14 to avoid. In order to arrive at this conclusion, it is necessary that the vehicle 10 with assistance system next to the vehicle in front 14 and the speed difference between both vehicles also the objects 12 and 13 (Vehicles), as well as the guardrail 11 captured as an object.

The schematic plan view of the traffic situation according to 2 shows the vehicle with assistance system 10 on the left lane C, which is at a speed surplus a preceding vehicle 13 approaches. Also according to 2 is a two-lane road with the lanes B and C and a hard shoulder A bounded by a left and right guardrail 11 based. According to 2 approaching from the back on the right lane B another vehicle 12 at which an even higher speed than the vehicle 10 especially as the vehicle 13 having. The assistance system of the vehicle 10 captured next to the left guardrail 11 which precludes evasion to the left and the slower vehicle ahead 13 on the same left lane C also the vehicle approaching rapidly from the rear on the right lane B. 12 ,

The assistance system of the vehicle 10 assesses the traffic situation according to 2 to the effect that neither dodging to the left due to the guardrail 11 another dodge to the right due to the fast approaching vehicle from behind 12 on the right lane B are considered and therefore only a braking maneuver in question. Should the delay generated by the braking device be insufficient to cause a collision with the preceding vehicle 13 to avoid, which is preferably taken into account by the assistance system, so there is still no lane change (displayed to the driver or automated) by the assistance system of the vehicle 10 , and a collision under full braking or emergency braking of the vehicle 10 with the vehicle 13 is accepted.

The schematic traffic situation in plan view 3 Initially, the same situation prevails as after 2 , where in the near future in addition to the two lanes B and C, an additional lane D begins, which can be avoided. The assistance system in the vehicle 10 recognizes the upcoming further lane D, the slower vehicle 13 on the lane C by avoiding on track D not dangerous to come close without using the right lane B on which a vehicle 12 approaching from behind at high speed. In addition to a braking of the vehicle 10 by the driver if necessary after a warning by the assistance system or an automatic braking by the assistance system is according to 3 So in addition the possibility of evasion, ie the time tta is also to be considered in addition to the time ttb for the braking.

The schematic traffic situation in plan view 4 shows the vehicle 10 , which has an assistance system ver, on the middle lane C of a road with three lanes B, C, D and a stationary lane A, which in turn of two crash barriers 11 is limited left and right. The vehicles 12 . 13 . 14 in the right lane B have approximately the same speed. The vehicle 10 with assistance system is faster than the preceding vehicle 15 on the middle lane C. In addition to these conditions, the assistance system of the vehicle detects 10 moreover, the vehicle rapidly approaching from behind on the left lane D 16 which at the present time the vehicle 15 evasive driving maneuver of the vehicle 10 on the left lane D makes impossible. In addition to the current situation, when recording and evaluating, a predictive assessment of the traffic situation in the near future, which results in the vehicle 16 on the left lane D already the vehicle 10 and the vehicle 15 on the middle lane C has overtaken and the lane D thus for an evasive maneuver of the vehicle 10 will be free again, even before there is a collision between the vehicle ahead 15 and the vehicle 10 on the middle lane C has come. Optionally, a braking maneuver of the vehicle 10 required to collide with the vehicle in front 15 to avoid. The vehicle assistance system 10 gives the driver a corresponding indication or performs the corresponding actuation of the brake and / or steering device at the latest at the last possible last time.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in many ways. So serve the in the 1 to 4 The traffic situations shown are merely exemplary explanations and do not limit the functionality of the vehicle assist system or the corresponding method for avoiding collisions or for reducing the collision consequences of an unavoidable accident. The invention can also be used in particular to support the driver at intersections and driveways.

Claims (17)

Method for preventing collisions or reducing the collision strength of a vehicle ( 10 ) comprising the steps of: (a) detecting at least the speed and direction of movement of the vehicle ( 10 ) as movement quantities of the vehicle ( 10 ); (b) detecting the location of objects ( 11 . 12 . 13 . 14 . 15 . 16 ) in the vehicle environment; (c) detecting at least the speed and direction of movement of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ) as movement quantities of the objects; (d) predicting the future location of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ); (e) evaluating the current and future location of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ); and (f) issuing a warning to the driver and / or performing an automatic steering and / or braking intervention by an assistance system of the vehicle ( 10 ) depending on the evaluation after step e), when a collision with an object ( 11 . 12 . 13 . 14 . 15 . 16 ) according to the evaluation after step e) is unavoidable without system intervention. Method according to claim 1, characterized in that the prediction of the future the position of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ) after step d) by means of a recursive filter, for example by means of a Kalman filter. Method according to at least one of the preceding claims, characterized in that the detection of the speed and the direction of movement of the vehicle ( 10 ) by means of wheel speed sensors, preferably with the aid of sensor information of a yaw rate sensor, as well as of vehicle longitudinal and / or lateral acceleration sensors. Method according to at least one of the preceding claims, characterized in that more than one detected object ( 11 . 12 . 13 . 14 . 15 . 16 ) is included in the assessment after step e). Method according to at least one of the preceding Claims, characterized in that the acceleration of the vehicle and / or the Objects is detected as another in the pre-calculation after step d) moving amount. Method according to at least one of the preceding claims, characterized in that the detection of the position of objects ( 11 . 12 . 13 . 14 . 15 . 16 ) in the vehicle environment after step b) by means of radar, lidar, video and / or ultrasonic sensors. Method according to at least one of the preceding claims, characterized in that only an actuation of a steering device of the vehicle ( 10 ) or an actuation of a braking device of the vehicle ( 10 ) or a combined operation of the steering and braking device of the vehicle ( 10 ) he follows. Method according to at least one of the preceding claims, characterized in that upon actuation of the braking device, individual wheels of the vehicle ( 10 ) are selectively and independently braked. Method according to at least one of the preceding claims, characterized in that by varying wheel contact forces on the wheels of at least one wheel axle of the vehicle ( 1 ) a yaw moment for performing the steering intervention is established. Method according to at least one of the preceding claims, characterized in that before the execution of the steering and / or the Bremsein handle by the assistance system of the vehicle ( 10 ) an assessment takes place with which object ( 11 . 12 . 13 . 14 . 15 . 16 ) for a possibly inevitable even when an intervention of the assistance system collision collision as the collision consequences, especially personal injury, occur. A method according to claim 10, characterized in that in a collision identified as inevitable after the evaluation according to step e), the collision opponent having the lowest relative speed to the vehicle ( 10 ) is selected by the assistance system. Method according to at least one of the preceding Claims, characterized in that in the evaluation according to step e) a steering and / or braking intervention to be effected by the assistance system is included in the calculation. A method according to claim 12, characterized in that the maximum lateral acceleration and / or the maximum deceleration of the vehicle ( 10 ) are taken into account as limit values of the adhesion in the assessment according to step e) before the execution of the steering and / or braking intervention by the assistance system. Method according to claim 13, characterized in that that at the limit consideration in the evaluation according to step e) the coefficient of friction of the road is miteingerech net, in particular between dry and wet carriageway is distinguished. Method according to at least one of the preceding claims, characterized in that a steering intervention by the assistance system only takes place if a collision with an object ( 11 . 12 . 13 . 14 . 15 . 16 ) can be avoided or reduced in strength. Method according to at least one of the preceding claims, characterized in that the assistance system of the vehicle ( 10 ) with assistance systems of objects ( 11 . 12 . 13 . 14 . 15 . 16 ), in particular other vehicles ( 12 . 13 . 14 . 15 . 16 ), and carries out a joint assessment according to step e) with them, so that the vehicle ( 10 ) and the objects ( 12 . 13 . 14 . 15 . 16 ) perform coordinated steering and / or braking interventions by their assistance systems. Vehicle assistance system for preventing collisions or reducing the collision strength of a vehicle ( 10 ), preferably for carrying out the method according to at least one of the preceding claims, comprising: (a) a device for detecting the speed and direction of movement of the vehicle ( 10 ); (b) means for detecting the location of Objects ( 11 . 12 . 13 . 14 . 15 . 16 ) in the vehicle environment; (c) means for detecting the speed and direction of movement of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ); (d) means for predicting the future location of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ); (e) a device for assessing the current and future location of the objects ( 11 . 12 . 13 . 14 . 15 . 16 ) relative to the vehicle ( 10 ); and (f) a device for actuating a warning device as a request to the driver for actuating a steering device and / or a brake device of the vehicle ( 10 ) or for automatically actuating the steering device and / or the braking device and / or an active suspension system of the vehicle ( 10 ) depending on the evaluation according to e), if a collision with an object ( 11 . 12 . 13 . 14 . 15 . 16 ) according to the evaluation according to e) is unavoidable without system intervention.