DE102007002220A1 - Method and device for collision warning in the case of lane changes of vehicles - Google Patents

Abstract

The invention relates to a method and a device for collision warning of motor vehicles when changing lanes, wherein a first determination unit for determining whether the vehicle is traveling on a road with multiple lanes, DOLLAR A a second determination unit for determining whether the vehicle wants to change the lane, DOLLAR A a third determination unit for determining whether the lane is occupied by another vehicle, and DOLLAR A an output unit that outputs a visual, haptic or audible warning depending on the determined in the three detection units driving situations.

Description

The The invention relates to a collision warning method and apparatus for lane changes of vehicles.

Out EP 0 473 866 A2 A collision avoidance system is known in which a sensor detects a plurality of potential collision objects and predicts a possible collision with the aid of the acquired data. To avoid the collision, it is proposed that braking means and / or steering means are activated by a vehicle control unit in order to avoid a collision. It is not stated how a control unit decides whether the steering means, the braking means or both must be used to avoid the collision.

Out US Pat. No. 6,049,295 A1 a method is known which is intended to prevent collisions between vehicles that drive on a junction without traffic signs or a poorly visible road section. This method requires a road-solid device and vehicle-mounted devices that communicate with each other by radio.

Out DE 198 30 547 A1 Furthermore, an intersection warning system is known, which also relies on roadside and on-board facilities.

The use known methods and devices for collision avoidance when interpreting an existing driving situation individual driving situation typical Information to a subsequent To carry out evaluation. The disadvantage here is that more information for improvement the driving situation evaluation is not flexible and easily evaluated can be.

In critical traffic situations such. B. imminent collisions with Often, a driver can not drive fast enough or not respond to the situation. For example, that's when driving of roads with several lanes when changing lanes into an already "occupied" lane This can happen if the driver is inattentive or if it is Vehicle on the "occupied" track in the "dead Angle "of the outside mirror located.

Out For this reason, a procedure is needed by which the vehicle the necessary ones Signal, prepare and respond to steps such as dodging or braking warn the driver when he is about to occupy a seat Change track and thus possibly cause an accident.

Of the Invention is based on the object, a method and an apparatus create a safer lane change with a vehicle to design.

These The object is solved by the features of claims 1 and 9.

In An advantageous embodiment takes place during the first determination a classification of the busy road by in-vehicle Driver assistance and / or vehicle safety systems.

According to one advantageous embodiment is used to classify the Street the signal of a speed sensor, a lateral acceleration sensor and a yaw rate sensor evaluated and the lateral acceleration and the yaw rate is set in relation to the current speed become. Furthermore, a radius of curvature is used to classify the busy road R determined.

In In another advantageous embodiment, an analysis of the Environment of the vehicle performed is determined, and it is determined whether other vehicles in the Environment and how the direction of travel in the area located vehicles, depending on the environmental analysis it is determined whether the vehicle is on a single or multi-lane Street located.

According to one Particularly advantageous embodiment is a second determination carried out, whether the driver intends to change the lane. This is done by means of a Analysis of the signal generator and / or based on an analysis of the steering profile.

In another particularly preferred embodiment takes place upon determination, an intended change of lane and detection an occupancy of this lane, a warning message about a Man-machine interface is output to the driver.

A particularly advantageous embodiment of the collision warning device according to the invention for lane changes of vehicles comprises a first determination unit for determining whether the vehicle is traveling on a road with multiple lanes, a second determination unit for determining whether the vehicle wants to change the lane, a third determination unit for determining whether the Lane is occupied by another vehicle, and an output unit which a visual, haptic or audible warning depending on the determined in the three detection units Fahrsitu issues.

In an advantageous embodiment is the output unit as a human machine interface executed.

advantageous Further developments are specified in the subclaims.

By the interpretation of information from different systems will be retain all the functional advantages of each subsystem and additionally their overall performance is increased. While each subsystem, such as. the vehicle safety systems that can reduce accidents by They minimize the risk of certain hazards that are only for your own Vehicle can apply according to the invention complex Hazardous situations solved involving a large number of vehicles. Furthermore, risks associated with a vehicle collision reduced, because it does not focus only on specific cases, like avoiding rear-end collisions.

By the method and apparatus for warning of collisions in the Lane change of a motor vehicle accident prevention by timely Warning the driver of the risk of collision when changing lanes become. Advantageously, a built-in environment sensor system, in driver assistance systems and vehicle safety systems is used, so that the inventive method and the device according to the invention economical is realized.

When Vehicle safety systems are all brake systems available in the vehicle can be used with electronic control. Vehicle Safety Systems can the Electronic Break System (EBS), the engine management system (EMS), Anti-lock Braking System, Drive Slip Control, Electronic Stability program, Electronic differential lock, Transmission Control Unit (TCU), Electronic Brake force distribution (EBV) and / or engine drag torque control Be (MSR).

Driver assistance systems are electronic auxiliary devices in vehicles in support of the Driver in certain driving situations. These are often safety aspects, but also the increase in ride comfort in the foreground. These systems semi-autonomously or autonomously in drive, control (e.g. Brake) or signaling devices of the vehicle on or warn by appropriate man-machine interfaces the Driver just before or during critical situations. Such driver assistance systems are, for example Parking assistance (sensor arrays for obstacle and distance detection), Brake Assist (BAS), cruise control, adaptive cruise control or cruise control (ACC), Distance warning, turn assistant, traffic jam assistant, lane detection system, Lane Keeping Assist / Lane Assistant (Lateral Guidance Assist, lane departure warning (LDW)), lane keeping support), New assistant clane change assistance), Intelligent Speed Adaptation (ISA), Adaptive cure, Tire pressure monitoring system, Driver status detection, traffic detection, automatic emergency braking (ANB), Headlamp Fade-In and Fade-Out, Night Vision System (Night Vision).

In Motor vehicles with braking systems which have an ABS control, a vehicle dynamics control or the like, are commonly used in electronic control devices various methods for detecting driving situations by a microprocessor running. In virtually all procedures for detecting the driving situation will be Input signals from wheel speed sensors for detecting the driving situation either alone or together with other sensors (yaw rate, Lateral acceleration etc.) evaluated, provided that these other sensors (so-called ESP sensors) are present in the vehicle.

• 1. Ermittlung Mehrspurige Straße und Straßenform (1)
• 2. Ermittlung Spurwechsel (2)
• 3. Ermittlung besetzte Zielspur (3)
• 4. Ausgabe Spurwechselwarnung (4)

It shows 1 exemplifies the start of the process according to the invention. The sequence of the method according to the invention consists of the following phases:

• 1. Identification of multi-lane road and street form ( 1 )
• 2. Determination of lane change ( 2 )
• 3. Determination occupied target track ( 3 )
• 4th edition lane change warning ( 4 )

The results and the evaluation of the individual phases are stored in a data memory ( 5 ) and by means of an evaluation unit ( 6 ) further processed. In this context, the data memory can be embodied as a real data memory, as well as a virtual data memory. For all process steps, an important prerequisite is that these real-time criteria suffice.

Advantageous the method has the following method steps:

1) Determination of multi-lane road ( 1 )

a) Current speed

To determine whether it is a multi-lane road, a situation recognition is performed by means of the driver assistance and / or vehicle safety system in order to determine on which type of road the vehicle is currently being driven by the driver. This avoids generating an unnecessary warning to the driver if the vehicle is driven, for example, in city traffic or on a single-lane country lanes. A feature when driving on multi-lane roads is that a high speed of, for example> 80 km / h is driven. By reading the information from, for example, the speed sensors, checking the current speed ( 10 ) respectively. If a high speed of eg> 80 km / h, according to the invention, this information is written to a data memory. Thus, the information for further evaluation of the phases 2-4 is provided.

b) street shape

The type of road, whether it is, for example, a winding or elongated road is determined by the evaluation of the small changes in the lateral acceleration ( 11 ) and the yaw rate ( 12 ) in relation to vehicle speed compared to narrow-lane country roads. A further advantageous determination of the road type can be achieved, for example, by the direct calculation of the curve radius R = speed / yaw rate ( 13 ) respectively. Another advantageous determination method for curve radii can be derived from the ABS wheel speed signals.

The determined curve radius R is preferably averaged and / or filtered. Become a "Long Curve" over long periods of time ( 14 ) or "straight ahead" ( 15 ), the information "straight road" in the already mentioned a data memory is transmitted

Becomes determined in the course of the procedure a tight curve which is not a lane change, which causes a sign change of the lateral acceleration, the information "Straight Street "through the Information "Narrow Curve "replaced. Such a case exists when e.g. the driver leaves from a motorway there when driving off a highway a narrow curve is passed through.

c) Determination of the direction of travel the neighboring vehicles

• I) Das eigene Fahrzeug fährt auf der äußerst rechten Spur und rechts werden stehende Objekte erkannt und links fahren weitere Fahrzeuge langsamer, schneller oder gleich schnell (16)
• II) Das eigene Fahrzeug fährt auf einer mittleren Spur und links und rechts fahren weitere Fahrzeuge langsamer, schneller oder gleich schnell (17)
• III) Das eigene Fahrzeug fährt auf äußerst linken Spur und links werden stehende Objekte oder entgegenkommende Objekte erkannt und rechts fahren weitere Fahrzeuge langsamer, schneller oder gleich schnell (18)

If there are other vehicles in the immediate vicinity and if it is detected via the surroundings sensor system that a vehicle movement in the same direction is following the adjacent lane, detection is carried out. The following models are checked:

• I) The own vehicle drives on the extreme right lane and on the right standing objects are recognized and on the left other vehicles drive slower, faster or equally fast ( 16 )
• II) The own vehicle drives on a middle lane and left and right drive other vehicles slower, faster or equal speed ( 17 )
• III) The own vehicle drives on the extreme left lane and on the left standing objects or oncoming objects are recognized and on the right other vehicles drive slower, faster or equally fast ( 18 )

Becomes one of the models I-III be recognized, the information "multi-lane road detected" in the data memory saved.

Become right-standing objects and fast-moving vehicles on the left recognized as in the case of one lane in each direction, the information "Multilane Road detected "reset. Are detected right and left objects, such as detection A single track road will also reset the information "Multilane Road Detected". Is the information "tight Curve "in the data memory If present, the information "Multilane road detected" is also reset.

If none of these models is detected, as in the case of a single vehicle on the highway, which is not surrounded by any other vehicles, the information "criterion multi-lane road is not evaluable" ( 19 ) are transferred to the data memory. In this detection, no other vehicles are detected in the same direction on the adjacent lane.

It the evaluation of the information stored in the data memory takes place. Is the information "High Speed "and" Straight Street "and" Multilane Road detected ", becomes the information "driver opens multi-lane street ", which is used in the following as basic information.

is the information "criterion multi-lane road not evaluable "in the data store is the Information "Multilane Road not recognized " evaluated.

All Information is preferably by statistical considerations to generate and determine because individual events incorrectly determined by interference may have been. additional Information Criteria and Errors are specified by empirically determined values, preferably these are determined by experiments.

2. Determination of lane change ( 2 )

Subsequently, will go through the phase "determining lane change".

It is a detection of the lane change request of the driver and the target lane, in which he wants to change, determined by the fact that the signal of operated "turn signal lever" ( 20 ) is evaluated and the direction request and intention to change lanes are recognized. The information "Change to the right" or "Change to the left" ( 21 ) is transferred depending on the operated turn signal lever accordingly in the data memory.

A particularly advantageous way of determining a lane change is through the analysis of the steering profile ( 22 ) determines, for example, how the steering movement is progressively slower at higher speeds. From this it is ruled out that it does not concern corrections for lane keeping and based on this steering profile, the information "change to the right" or "change to the left" can be transferred to the data memory.

3. Determination occupied target track ( 2 )

The environmental sensors determine the neighboring vehicles located in the rear side room in the environment. Upon detection that a vehicle is already on the lane to be changed, the information "vehicle left" ( 20 ) or "vehicle right" ( 21 ) are transferred to the data memory

4th issue of the lane change warning ( 4 )

From the passing phases of the points 1 to 3 If there are certain information states in the data memory, an output of a warning is made.

Becomes detected in this phase that the vehicle with the information "high Speed "up a multi-lane road, and changed into an occupied lane should be, then a warning is issued to the driver. This is done via different output options using a human-machine interface. In one execution takes place the output of the warning e.g. above the CAN data bus or hardwired to a display unit that e.g. executed in the form of a combination instrument. Here is a warning sound and a display message or a warning lamp driven. alternative can also be a vibrating alarm over the driver's seat are issued. In a further embodiment can be a head up display or a special area of the interior mirror act of the vehicle as a reproduction unit, which is viewed only by the driver becomes. Alternatively, a projection of the warning situation on the Front window and / or rear window can be visualized.

In In a particularly advantageous embodiment, the environment sensors, such as. Infrared sensors from the driver assistance system parking assistance on used on both sides of the vehicle. These capture at least the Area of the driver over the vehicle mirror is not visually visible area, the so-called "dead Angle. "Especially advantageous is the use of a central processing unit, which performs the situation recognition, preferably already is present in the vehicle, as is the case with the use of an EBS Case is. Furthermore, takes over this central processing unit, the control of the output unit, which the driver e.g. by means of warning sound, warning lamp and display message warns The above description refers to an embodiment of the Invention which is applicable to land vehicles, for example lorries, Buses or passenger cars is used. It is understood, however, that that of the invention underlying method and the invention of the underlying Device is not limited to use in land vehicles, but - if necessary in slightly modified form - too to other vehicles, such as rail vehicles, watercraft and Aircraft can be extended.

Claims (11)

Method of warning against collisions when changing lanes of motor vehicles, marked by a first investigation whether the vehicle is driving on a road with several lanes, a second determination of whether the vehicle wants to change the lane, a third determination whether the lane occupied by another vehicle is and an optical, haptic or acoustic warning dependent on of the three determined driving situations. Method according to claim 1, characterized in that that at the first determination a classification of the used Street by in-vehicle driver assistance and / or vehicle safety systems he follows. Method according to one of the preceding claims, characterized characterized in that for classifying the busy road the signal a speed sensor, a lateral acceleration sensor and a yaw rate sensor is evaluated and the lateral acceleration and the yaw rate is set in relation to the current speed become. Method according to one of the preceding claims, characterized characterized in that for classifying the busy road a curve radius R is determined. Method according to one of the preceding claims, characterized in that an analysis of the environment of the vehicle is carried out, wherein it is determined whether there are other vehicles in the area and how the direction of travel of the surrounding vehicles, which is determined depending on the environmental analysis, whether the vehicle is on a single or multi-lane road. Method according to one of the preceding claims, characterized characterized in that the second determination is whether the vehicle is the lane wants to change, based on an analysis of the signal generator and / or based an analysis of the steering profile takes place. Method according to one of the preceding claims, characterized that the third determination is based on environmental analysis, the rear side Space and the adjacent vehicles recorded takes place. Method according to one of the preceding claims, characterized characterized in that upon detection of an intended change the lane and upon detection of occupancy of this lane, a warning message about a human machine Interface is output to the driver. Device for collision warning during lane changes of vehicles, marked by, this is a first detection unit to determine if the vehicle is on a road with multiple lanes moves, a second determining unit for determining whether the vehicle is the lane wants to change a third determination unit for determining whether the lane is occupied by another vehicle, and one Output unit that provides a visual, haptic or audible warning dependent on of the driving situations determined in the three investigation units, outputs. Device according to claim 9, characterized in that that the output unit is a human machine interface. Computer program product, characterized that this defines an algorithm which is a method according to at least one of the claims 1 to 9.