DE102009047436A1 - Method for resetting and/or setting blinker system of vehicle i.e. commercial motor vehicle, involves detecting completed and/or forthcoming direction change by comparing location data of vehicle with map data - Google Patents

Abstract

The method involves resetting and/or setting a vehicle blinker system automatically after completion and/or during forthcoming direction change. The completed and/or forthcoming direction change is detected by comparing location data of a vehicle with map data. The location data is obtained from a navigation system, a mobile telephone and/or an external position determining device. A steering angle, steering angle speed and/or a steering speed are utilized for detecting the completed and/or forthcoming direction change. Independent claims are also included for the following: (1) a system for resetting and/or setting of a vehicle blinker system (2) a computer program product has a set of instructions for executing a method for resetting and/or setting of a vehicle blinker system (3) a machine-readable data carrier comprising a computer program product.

Description

The present invention relates to a method and a system for resetting and / or setting a vehicle turn signal according to the preamble of patent claims 1 and 8.

State of the art

Today, humans, machines, businesses and private households are hubs in widely ramified networks, through which flows of data and information flow incessantly. In recent decades, automotive development has also benefited from the achievements of information technology. Today, vehicles have become complex machines that have been taught by both vehicle manufacturers and suppliers to listen in, to self-diagnose, and to provide the driver with useful and important information.

This is accompanied by the fact that our society is getting older and older and there is an ever-increasing mobility with the help of motor vehicles even in old age. However, as one grows older, one's ability to respond often diminishes, and mental health limitations to process and respond to information are expected. As an example may be mentioned the Alterskurzsichtigkeit and the senile deafness. On the other hand, however, the traffic density, also of commercial vehicles, is increasing more and more, which also increases the number of critical traffic situations.

The combination of an increasing average age of drivers with increased traffic increases the desire for intelligent driver assistance systems. An example of an assistance system which is indispensable today is the navigation systems. With the help of these devices, both a location and a navigation to a specific location can be performed. Many of these navigation devices are OEM devices and meanwhile increasingly installed as standard equipment in vehicles. The core of the devices used today is the reception of GPS-based signals. The route can then be tracked relatively precisely based on the map material integrated in the system. In particular, with the future satellite navigation systems will result in combination with the existing GPS navigation significantly improved reception quality. It is to be assumed with a location inaccuracies in the civilian area of use of less than 0.1 m. This allows even better localization of objects in many applications.

Another problem with the vehicle guidance is the fact that there are always road construction measures that lead in turning operations with motor vehicles to the fact that the mechanical return mechanism of the flasher indicator, usually also simply called flasher, is not properly activated and deactivated. Typical examples of this are roundabouts with exits, which are marked by a right-running road. Another example is elongated departures from federal highways and highways. In both examples, the traffic that is important for subsequent traffic does not always work optimally. The driver then has to turn off the turn signal by hand, as is known in old vehicles from the time until the seventies of the last century.

In particular comfort-spoiled drivers of the present time as well as older motor vehicle drivers can be prone to erroneous turn signal operation in such described situations. This problem has already led to the fact that street authorities respond to it by separate signs were set up that point to a manual reset of the turn signal, as for example, followed by a "bending" right of way. Examples of such "winkerkritischen" traffic guidance are in the 1a ), Federation 2a ), b), showing once a traffic routing in Stuttgart, Wildparkstraße, exit Schloss Solitude ( 1 ) and Schwieberdingen, B10, roundabouts at the exit Schwieberdingen-East / Ditzingen ( 2 ) shows.

In the 1 and 2 the direction of travel of the vehicle is shown with an arrow. In the respective FIG. A), a typical flashing behavior is shown, that is to say that the turn signal is activated over the entire distance range, that is to say the turn signal is on 20 ,

Actually and according to the Highway Code but the Blinkersetzung, as in the 1b ) and 2 B ), and be switched off again between the individual Abbiegemanövern 21 ,

In particular, due to the increase in the distribution of integrated in the vehicle navigation systems based on traditional GPS data, be it future-used satellite GPS, such as Galileo or Navstar GPS, the functionality of these systems can be used in the future.

From the patent applications DE-260 88 65 A the Robert Boch GmbH, the EP 1 177 940 A2 and the EP 1 448 717 A2 The company Valeo Switches & Sensors GmbH are various concepts for the mechanical provision of the turn signal selector lever known.

From the DE 103 22 557 A1 The Robert Bosch GmbH is also known a stepped method in which recognizes on the basis of environmental sensors in the form of a video-based monitoring system leaving the lane and initiates an automatic Blinkersetzung. In such a case, the driver should first be warned by flashing noise and in a second warning level, the following traffic is informed by Blinkersetzung.

Besides, it is from the patent application DE 10 2004 030 951 A1 The company Adam Opel AG announced that the turn signal is navigated in an HMI display navigation-controlled. Neither the flasher nor the flashing lights are actually operated and controlled. For this purpose, a destination is preset in the navigation device and the navigation device calculates the route. Thus, the navigation device knows the route and it can be done automatically Blinkersetzung.

Proceeding from this, it is an object of the present invention in a method of the type mentioned to allow an even more accurate automatic Blinkersetzung.

Disclosure of the invention

This object is achieved by the feature combination specified in claim 1 and 8.

According to the present invention, a direction change is now detected from a comparison of location data with map data. The actual position of the vehicle is now determined, in particular in relation to the road or lane, and from this, for example, a change of direction with respect to the used road or lane is detected.

It is according to the present invention no longer imperative that a destination or a route is specified, but it can also be detected without further information and without sensors and cameras of the vehicle a change of direction and a Blinkersetting or provision made. It is also possible to avoid faulty blinking setbacks and resets, since a specific route is not specified.

With a method and a device according to the present invention, a much more precise blinking set-and-reset is known as known from the prior art and today's vehicles. This leads to a significant gain in comfort for the driver, especially in confusing traffic situations. Thus, for example, a faulty mechanically induced return of the turn signal can be avoided, for example, at a traffic light by the steering wheel in the state or after straightening the vehicle on the turn lane.

Furthermore, the safety is increased because the Blinkersetting and turn signal reset is no longer forgotten and a wrong Blinkersetzung due to the change of the route can no longer take place. You will no longer see an impossible turn-off. Even with lane changes, the subsequent traffic is automatically warned by the Blinkersetzung.

The perception of critical situations by the driver can also be increased.

Since the determination of a turning operation or the termination of this can be done with the help of already existing components, the system used for carrying out the method can also be designed very cost-effective. Furthermore, mechanical components can be saved, resulting in a weight reduction of the vehicle and thus to lower operating costs and a reduced environmental impact.

Advantageous embodiments of the invention are characterized by the subclaims.

According to a preferred embodiment of the present invention, the location data is obtained from a navigation system, mobile telephone and / or external positioning device.

It already existing positioning systems are also used to a position, resetting the flashing system, in particular the turn signal, the turn signals outside, the flashing light in the HMI display (HMI = Human Machine Interface), the flashing sound generator, etc., perform.

Moreover, in a method according to the invention it is also possible for a self-learning implementation to be carried out, so that the turn signal safety can be further increased according to the situation.

In addition, other verification units may additionally be used. For example, a steering angle could be used to detect the completed and / or upcoming direction change.

Furthermore, it may also be useful to wait between the detection that a Blinkseretzung or a turn signal reset is to take place and the actual Blinkersetzung or provision to control.

This waiting time can be controlled, for example, depending on the steering angle speed and / or the steering speed.

In addition, the use of statistical data, externally transmitted data, such as a camera, data of the navigation landscape and / or vehicle dynamics data would be possible. These devices, which are usually already provided in the vehicle, can thus contribute to a verification of the blinking replacement.

It may also be useful if the navigation route is used as additional information. With such information, further plausibility of the information (as reinsurance) may no longer be necessary.

An embodiment of the invention will be explained below with reference to the drawing. It show here

1a ) and b) aerial views of a traffic route;

2a ) and b) aerial views of another sales route; and

3 a flow chart of a method according to the invention according to a preferred embodiment.

• – Positionsbestimmung des Fahrzeuges, die beispielsweise anzeigt, dass die Bewegung nicht parallel zum Straßenverlauf erfolgt, das heißt, dass der Winkel zwischen diesen beiden Richtungen (Strassenverlauf, Bewegungsrichtung) nicht „0” ist.
• – Primär per Geschwindigkeit des Fahrzeugs in x-Richtung beziehungsweise sekundär per Beschleunigungsmessung in x-Richtung, wobei x-Richtung die Fahrzeuglängsrichtung ist. Die Beschleunigungsmessung ist insbesondere bei Landstraßenüberholmanövern sehr hilfreich.
• – Lenkwinkel
• – Optional kann auch die Gierrate (Rotation um die Hochachse, also z-Achse) des Fahrzeugs verwendet werden.

First, an embodiment for an overtaking operation will be described. According to the described embodiment, the following information is available when overtaking according to the described example:

• - Position determination of the vehicle, which indicates, for example, that the movement is not parallel to the road, that is, the angle between these two directions (road shape, direction of movement) is not "0".
• - Primary speed of the vehicle in the x-direction or secondary acceleration measurement in the x-direction, where x-direction is the vehicle longitudinal direction. Acceleration measurement is very helpful especially for highway overtaking maneuvers.
• - Steering angle
• - Optionally, the yaw rate (rotation about the vertical axis, ie z-axis) of the vehicle can be used.

At the time t1, the position of the vehicle is now determined by means of location data (x (t1), y (t1), z (t1)). In addition, the steering angle (lw (t1)) and the position of the road / center of the road or lanes (xs (t1), ys (t1), zs (t1)) are also determined.

A corresponding measurement is carried out at a time t2 and the values for the position measurement x (t2), y (t2), z (t2), the steering angle of the vehicle lw (t2) and the position of the road / middle of the road or lanes are obtained xs (t2), ys (t2), zs (t2).

The difference vector of the vehicle dF, the difference of the steering angle dlw and the difference vector of the road or lane (s) dS are then determined from these measurements.

From this one obtains then the angle alpha between the difference vectors vehicle direction) dF and road course dS.

If this angle alpha is smaller than THD (total harmonic distortion), then the vehicle is in normal driving on the road. However, if the angle alpha is greater than THD, then the lane / road will leave in a corresponding direction.

According to a preferred embodiment, at different consecutive times j, the angle alpha must be greater THD in order to indicate that the driver is leaving the road / driving lane by the turn signal.

The sign of the obtained angle alpha indicates the direction (right / left) and can be verified with the help of the steering angle information and map information such as possible lanes, turn-offs, etc.

• 1. Ein Abbiegen an einer Kreuzung und ähnliches. Hierbei erfolgt eine Blinkersetzung bis tatsächlich abgebogen wurde und nicht nur bis von der Geradeausspur auf die Abbiegespur gewechselt wurde. In diesem Fall wären bei der Ermittlung der oben beschriebenen Kenngrößen diese beim Stehen vor einer Kreuzung in zwei aufeinander folgenden Zeitpunkten gleich.
• 2. Ein Spurwechsel, beziehungsweise ein Verlassen der Fahrbahn. Die Blinkersetzung erfolgt bis der Spurwechselvorgang abgeschlossen ist und der Winkel alpha für einen bestimmten Zeitraum wieder „0” beziehungsweise kleiner als THD ist.

Usually, two different lane changes or turning operations are distinguished in particular for the turn signal reset.

• 1. A turn at an intersection and the like. This is followed by a Blinker replacement until it was actually bent and not only was changed from the straight track to the turn lane. In this case, in determining the characteristics described above, these would be the same when standing before crossing in two consecutive times.
• 2. A lane change, or leaving the roadway. The Blinkersetzung takes place until the lane change process is completed and the angle alpha for a certain period of time again "0" or less than THD.

A size for a method according to another described preferred embodiment of the present invention is the determination of the position of a vehicle based on GPS and / or similar, for example, satellite-based information. This also includes a future new development in the field of satellite navigation, such as the results / systems from the European research project Galileo, the American NAVSTAR / GPS research project, the Russian research project GLONASS or other similar developments of standards, such as in China or India. In addition, alternative, currently available and future non-satellite navigation and positioning systems could be used to determine the position of the vehicle. These include, for example, mobile networks.

By means of the positioning or position of the vehicle thus obtained, a comparison can be made with the most detailed map material possible. On the basis of further information, such as the ranking of the roads, which may be important, for example, when turning into agricultural roads, or the presence of different driving and / or turning and / or braking / acceleration lanes, etc., it may be more accurately determined whether For example, a turn is completed and thus the turn signal can be turned off. In this case, the map material can be created both from corresponding CD data available in the vehicle, via corresponding hard disk data or, for example, also via a download service from current map data from the Internet or from other operators. The completion of a turn can be done for example via a threshold comparison of the positions between GPS data and map material.

In further embodiments, which are described here in examples, is also proceeding according to a principle of the present invention. This means that first a locating / positioning of the vehicle takes place, then a comparison with the used map material and it is followed by a decision whether a turn signal or turn signal reset takes place.

When turning at an intersection, as already described above, a Blinkersetzung was actually bent and was not only changed from the straight track on the turn lane. This can then preferably be supplemented by the lane grouping from the navigation / location map material.

A typical example of the use of the method described is the change of lane on a two- or multi-lane road such as a highway. Often the display of the lane change for various reasons, but contrary to the StVO, waived. Again, after accurate locating and positioning of the vehicle can be made by a flashing indicator. The same applies when driving off and on a motorway, at the latest when changing to the appropriate lanes. Even in inner cities, such a function when driving onto a turning lane of utility.

The method according to the present invention can be used both as a complete replacement set of flashers or be used in such a way that the driver does not basically waive manual Blinkersetzung, but in the event that he has not made a Blinkersetzung, then such takes place automatically and the subsequent traffic can be warned at least with a corresponding time offset. In cases where the automatic turn signal system has been activated, the activation should be canceled automatically after the lane change has been completed, unless the driver has already intervened.

• 1. Statistische Daten, wie beispielsweise Hot Spot Informationen, Unfalldaten, Verkehrsdichteinformationen, TMC, usw.
• 2. Daten welche von außen in das Fahrzeug übermittelt werden, wie beispielsweise Infrastructure-2-Car Communication, Car-2-Car Communication, Verkehrsleitsysteme, usw.
• 3. Fahrdynamische Daten, wie beispielsweise Daten aus dem ESP-Steuergerät zur aktuellen Geschwindigkeit, Beschleunigung, Gierrate, usw.
• 4. Lenkradbezogene Informationen, wie Lenkwinkel, Lenkgeschwindigkeit und Lenkbeschleunigung
• 5. Videobasierte oder Infrastructure-2-car basierte Verkehrszeichenerfassung, wie beispielsweise zusätzliche Fahrspurinformation.

In a further embodiment of the method, the steering angle can also be included. This can serve, for example, the additional plausibility check. Depending on the embodiment of the present invention, in addition to the positioning signal, the following information can be used and also evaluated algorithmically:

• 1. Statistical data, such as hot spot information, accident data, traffic density information, TMC, etc.
• 2. Data which is transmitted from the outside to the vehicle, such as infrastructure-2-car communication, car-2-car communication, traffic control systems, etc.
• 3. Vehicle dynamics data, such as data from the ESP controller for the current speed, acceleration, yaw rate, etc.
• 4. Steering wheel related information such as steering angle, steering speed and steering acceleration
• 5. Video based or Infrastructure 2 car based traffic sign detection, such as additional lane information.

• – Der Blinker wird nach einem Abbiegevorgang abgeschaltet, falls dies nicht durch den Fahrer von Hand erfolgt.
• – Der Blinker wird beim auf einer Abbiegespur stehenden, beziehungsweise wieder losfahrenden Fahrzeug wieder eingeschaltet, wenn er zuvor wegen der Schrägstellung des Fahrzeuges beziehungsweise einem eingeschlagenen Lenkrad zurückgestellt wurde.
• – Es erfolgt eine automatische Blinkersetzung während eines Warte- und Abbiegevorgangs, wenn auf einer Abbiegespur oder ähnlichem fahrend oder stehend eine Vorfahrt für andere Fahrzeuge gewährt werden muss.
• – Bei Ein- oder Abfahrten auf den Beschleunigungs- oder vom Verzögerungsstreifen von Autobahnen oder anderer mehrspuriger Straßen im inner- und/oder außerstädtischen Verkehr wird auf einer entsprechenden Spur automatisch der Blinker eingeschaltet und nach Abschluss des Vorganges wieder zurückgestellt.
• – Erfolgt ein Verlassen der Spur und/oder Spurwechsel ohne manuelle Blinkerzeichengebung, dann erfolgt eine automatische Blinkersetzung zur Warnung des rückwärtigen Verkehrs.

The embodiments of the invention presented below are conceivable and arbitrarily combinable and expandable.

• - The turn signal is switched off after a turn, if this is not done by the driver by hand.
• - The turn signal is switched on when standing on a turn lane, or again starting vehicle when it was previously reset due to the inclination of the vehicle or a turned steering wheel.
• - There is an automatic Blinkersetzung during a waiting and turning operation when driving on a turn lane or the like or standing a priority for other vehicles must be granted.
• - When entering or leaving the acceleration or deceleration strip of Motorways or other multi-lane roads in urban and / or extra-urban traffic is automatically turned on a corresponding track the turn signal and reset after completion of the process again.
• - If the lane departure and / or lane change without manual turn signal, then an automatic turn signal setting is to warn the rear traffic.

In 3 is a very simplified flowchart according to a preferred embodiment shown and with t _i a first measurement time is defined and the next measurement time is t _{i + 1} . The distance of the measurements .DELTA.t can be set depending on the speed or situation.

At a time t _i finds a location of the vehicle 10 instead of. The position of the vehicle is compared with a map material 11 , Subsequently, it is checked by a comparison of the position data with the map material, whether a blink replacement or reset is necessary 12 , If so, the turn signal generator is controlled 13 , After Δt, a new measurement is started.

In addition, even more measurements can take place. Thus, at time t _{i in} addition to the position vehicle x (t _i ), y (t _i ), z (t _i ) a measurement of the steering angle of the vehicle lw (t _i ), a measurement of the (center) position road / lane ( en) xs (t _i ), ys (t _i ), zs (t _i ) occur.

These measurements are then also carried out at a time instant t _{i + 1} , so that the values of the position of the vehicle x (t _{i + 1} ), y (t _{i + 1} ), z (t _{i + 1} ), the steering angle of the vehicle lw (t _{i + 1} ), the (center) position of the road / lane (s) xs (t _{i + 1} ), ys (t _{i + 1} ), zs (t _{i + 1} ), and then the difference vector Vehicle dF, difference steering angle dlw, differential vector road or lane (navigation system) dS and the angle alpha between difference vectors vehicle direction) dF and road course dS can determine.

If alpha <THD, then it is a normal trip on an existing lane / street. If alpha> THD, then the lane / street is left in a corresponding direction. In this case, alpha must preferably be greater than THD at different consecutive times in order to actually indicate leaving the road / lane. The sign of the angle alpha indicates the direction (right / left) and must coincide with the steering angle information and existing possible lanes or turn-off options (from navigation data).

The described system can always be active, even if no navigation device is used.

According to a preferred embodiment, the system is not deactivated by the driver, but remains always active. The system could also be set so that a check whether a blinking is necessary, only at such critical points takes place at which a usually poor functionality of the standard flasher must be expected, or this is often forgotten.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 2608865A [0010]
• EP 1177940 A2 [0010]
• EP 1448717 A2 [0010]
• DE 10322557 A1 [0011]
• DE 102004030951 A1 [0012]

Claims (11)

A method for resetting and / or setting a vehicle turn signal, wherein after completion and / or in an imminent change of direction, the vehicle turn signal is automatically reset and / or set, characterized in that the completed and / or upcoming direction change from a comparison of location data of the vehicle with map data is recognized. A method according to claim 1, characterized in that the location data from a navigation system, mobile telephone and / or external positioning device are obtained. A method according to claim 1, characterized in that for detecting the completed and / or upcoming direction change further a steering angle, a steering angle speed and / or a steering speed is used. Method according to one of the preceding claims, characterized in that further statistical data is used to detect the completed and / or forthcoming change of direction. Method according to one of the preceding claims, characterized in that for detecting the completed and / or forthcoming change of direction data transmitted from the outside are also used. Method according to one of the preceding claims, characterized in that for detecting the completed and / or forthcoming direction change further driving dynamics data are used. Method according to one of the preceding claims, characterized in that a navigation route is used for plausibility. System for resetting and / or setting a vehicle turn signal, wherein after completion and / or in an imminent change of direction, the vehicle turn signal is automatically reset and / or set, characterized in that means are provided with which it is possible that the completed and / or imminent change of direction from location data is detected. Computer program product comprising program parts for performing a method according to at least one of the preceding claims 1 to 6. Machine-readable, in particular computer-readable data structure, generated by a method according to at least one of claims 1 to 6 and / or by at least one computer program product according to claim 8. Machine-readable, in particular computer-readable, data carrier on which at least one computer program product according to claim 8 is recorded and / or stored and / or on which at least one data structure according to claim 9 is kept ready for retrieval.

Images