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EP3188157A1 - Architecture de sécurité destinée à améliorer la localisation des usagers de la route et procédé associé - Google Patents

Architecture de sécurité destinée à améliorer la localisation des usagers de la route et procédé associé Download PDF

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Publication number
EP3188157A1
EP3188157A1 EP16206271.5A EP16206271A EP3188157A1 EP 3188157 A1 EP3188157 A1 EP 3188157A1 EP 16206271 A EP16206271 A EP 16206271A EP 3188157 A1 EP3188157 A1 EP 3188157A1
Authority
EP
European Patent Office
Prior art keywords
road
road users
road user
environment sensor
communication module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16206271.5A
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German (de)
English (en)
Inventor
Toralf Trautmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hochschule fuer Technik und Wirtschaft Dresden
Original Assignee
Hochschule fuer Technik und Wirtschaft Dresden
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hochschule fuer Technik und Wirtschaft Dresden filed Critical Hochschule fuer Technik und Wirtschaft Dresden
Publication of EP3188157A1 publication Critical patent/EP3188157A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the invention relates to a method for improving the location of road users, especially pedestrians and / or cyclists, to avoid collisions of road users with other other road users, especially moving vehicles.
  • the invention further relates to a security architecture, which implements the inventive method for improving the location of road users.
  • Car2x New vehicle-to-vehicle and vehicle-infrastructure communication technologies will allow road users to exchange data with each other and avoid accidents. Car2x is used as a collective term for a variety of research and development activities. These aim to increase the safety of mobility, increase traffic efficiency and meet the need for comfort. Here, functions are investigated by communication between vehicles or between vehicle and Infrastructure can be better implemented or even made possible.
  • Examples of such features include Crossing Assistant and Congestion Warning.
  • the communication between vehicles and an infrastructure is understood as a concept with which communication with infrastructural facilities of the automotive technology is realized.
  • This approach involves the wireless communication of vehicles with infrastructure such as radio beacons and traffic lights.
  • These can also be intelligent traffic signs, radio nodes, or Intelligent Roadside Stations (IRS), via which a communication to the Internet, to infotainment platforms or to the automaker can be established. Via the latter, eg diagnostic or emergency data can be transmitted directly to the manufacturer or to the workshop.
  • IRS Intelligent Roadside Stations
  • a mobile collision warning system for carrying in motor vehicles.
  • the collision warning system contains a position determination unit, such as a GPS receiver, and continuously transmits the current spatial position via a transmitter. Likewise, it may receive by means of a receiver the position information similarly emitted by other collision warning systems. On the basis of the position information, the danger of a collision is precalculated in a control unit. However, this means that no location of pedestrians or cyclists can be considered.
  • a further object of the invention is to improve and more accurately determine the location and possible movement intentions of the road users in order to prevent collisions between the road users and other other road users, such as passing vehicles even in poor visibility conditions and poorly understood traffic situations.
  • this object is achieved in that an environment sensor system of another road user or an infrastructure detects movement data of the road user and sends them to a respective receiving unit of the other other road users, wherein the receiving unit carries out a collision calculation and if there is a risk of collision between the road user and the other other road user generates a warning signal or initiates an evasive maneuver.
  • a road user may be a pedestrian or a cyclist.
  • the environment sensor system is understood to be the entirety of the sensors located in a further road user, which monitor the immediate surroundings of the further road user, the other road users representing in particular parked vehicles.
  • ultrasonic sensors, cameras, radar, laser scanner and lid technology can be used.
  • the environment sensor is usually permanently active, i.
  • the surroundings sensor permanently scans the immediate surroundings of the other road user by means of ultrasonic sensors, the immediate surroundings being determined by the range of the sensors of the other road user.
  • the environment sensor of the other road user is periodically activated, for example, only the ultrasonic sensors are activated every 200 ms. This has the advantage that the entire environment sensor system does not have to be constantly active and therefore energy can be saved.
  • the environment sensor system is activated only when the road user who carries a communication module with him enters the coverage area of the other road users.
  • This is particularly advantageous, in particular to keep the energy consumption in parked vehicles as low as possible, because only then is consumed by the activated environment sensors energy and not if there is no road users in the vicinity of the other road user.
  • an activation by another other road user for example an approaching vehicle, which enters the coverage area of the other road user. If the surroundings sensor has been activated by the communication module, then the sensors of the other traffic participant monitor its immediate surroundings, the immediate environment being determined by the range of the sensors of the further traffic participant.
  • the movement data of the road user within the detection area are detected and to a respective receiving unit of the other other road users Posted. Only with these data is a secured information about the intentions of the road user to move available and the receiving unit of the other other road users can perform a much more accurate collision calculation. If there is a risk of collision between the road user and the other other road user, a warning signal or an evasive maneuver is generated or initiated by the other other road user.
  • the warning signal can be, for example, an acoustic or haptic signal for the driver of the vehicle as other other road users. Or the passing vehicle initiates an evasive maneuver, i. it can even be an active intervention in the vehicle management.
  • the communication module activates the surroundings sensor when entering a communication area of the other road user or the infrastructure. In one embodiment, this can take place via a radio link formed in continuous operation or in pulsed operation between the road user and an activation unit of the other road user or the infrastructure.
  • the operation of the radio link in pulse mode has the advantage that the energy requirement for this is much lower than for the continuous operation of the entire environment sensors. This is particularly important for electric vehicles, as unnecessary energy consumption would lead to a significant reduction in range.
  • the activation via the communication module only results in a measurement if a road user, eg a pedestrian or a cyclist, is actually in the vicinity, ie in the communication area of the other road user.
  • the radio link may be a communication standard, preferably the IEEE 802.11p standard.
  • the environmental sensor system detects the movement data of the road user by means of ultrasound and / or by means of cameras and / or by means of radar and / or by laser scanner and / or by lidar technology.
  • the entire environment sensor system is awakened either by a part of the sensor system, for example by the ultrasonic sensors, which are activated periodically or by the activation signal of the communication module, so that they can scan the surroundings of the vehicle.
  • part of the sensor system eg the ultrasonic sensors, is activated periodically, for example every 200 ms, whereby these then scan the immediate surroundings. If the ultrasonic sensors detect an object in the detection area of the environmental sensor system, the entire system of the environmental sensor system is activated.
  • the entire surrounding field is activated by the communication module of the road user, eg pedestrian, or another other road user, eg moving vehicle, so that they can scan the surroundings of the other road user.
  • the communication module of the road user eg pedestrian
  • another other road user eg moving vehicle
  • the intention of movement of the road user who leads the communication module according to the invention, or who has entered the detection range of the environment sensor of the other road user, calculated and From this, a risk of collision with the other other road users are derived.
  • the object of the invention is achieved by proposing a security architecture for improving the location of road users, in particular of pedestrians and / or cyclists, which comprises at least a base unit and a communication module and an environment sensor system, a receiving unit and a control unit, wherein the communication module a radio module and is designed to communicate with other road users and / or infrastructures and / or other other road users communicating.
  • the base unit has as a basic equipment a position determining unit, e.g. a GPS location module and a telecommunications module, e.g. a SIM card for establishing a telecommunication connection.
  • the basic device is a mobile phone or a tablet PC.
  • the communication module is formed wirelessly or wired to the base unit.
  • the communication module thus represents an extension of the base unit.
  • the communication module is used to generate and generate additional data, so that more precise information about a possible intention of movement of the road user for other road users are derivable.
  • the coarse location of the location to be located road user can be done for example via the base unit. All additional information is initiated by the communication module, ie, through the communication module further detection systems are used to provide additional information for improved pedestrian and cyclist detection.
  • the radio module is designed to communicate with an activation unit of the further road user and / or the infrastructure in a communicating manner via a radio link, wherein the radio link is designed as a Car2x direct connection.
  • a radio link is designed as a Car2x direct connection.
  • the corresponding environment information is activated. This collects movement data of the road user within the communication range of the other road user or the infrastructure and creates a movement history of the road user within the communication area of the other road user or the infrastructure. This collected data can be sent via a further C2x connection to receiving units of other other road users.
  • the communication module has a direct or indirect connection with the other other road users and / or the infrastructure. This means that, depending on the situation to be detected, the communication module is either directly connected to the receiving unit of the other other road user, for example via a radio link and the movement data directly to this
  • Receiving unit to be sent Or the communication module is indirectly connected via the environment sensor of the other road user with the receiving unit of the other other road user.
  • the movement data of the road user are first recorded by the environment sensor of the other road user and sent in a next step to the receiving unit of the other other road user.
  • the other other road users at least the control unit, wherein the control unit is designed to calculate a risk of collision between the communication module carrying the road user and the other other road users. From the movement data of the road user received by the receiving unit of the other other road user, the control unit calculates a risk of collision and, if a collision hazard occurs, reacts accordingly with a warning signal or an evasive maneuver.
  • the security architecture can be easily retrofitted in older vehicles, so older other and older other other road users who are not yet equipped with the necessary components of the security architecture, ie in particular the receiving unit, the control unit and the activation unit and the environment sensors.
  • These components of the security architecture can be designed to be retrofittable, for example, in a license plate holder.
  • the security architecture thus comprises in a broader sense not only the base unit and a communication module connected thereto, but also the Activation unit of another road user and / or an infrastructure for activating an environment sensor of the other road user and / or the infrastructure and a receiving and control unit of another other road user, wherein the receiving unit receives the recorded data of the environment sensor and the control unit processes the data and thus a Improving the location and movement history of pedestrians and cyclists through the additional information can be achieved. This significantly reduces the risk of collision between road users and other road users.
  • the other road users for example, a parked vehicle
  • the infrastructure is for example a Warnbarke or an intelligent light signal barrier
  • the other other road users for example, a moving vehicle.
  • Both the other road users and the infrastructure and the other other road users have a receiving unit, a control unit and an activation unit and an environment sensor.
  • FIG. 1 is shown a possible operational situation for the security architecture and the associated method.
  • a pedestrian 1 with a communication module 11 goes between parked vehicles 2 in the direction of the road.
  • a passing vehicle 3 would cross the path.
  • the pedestrian 1 eg a child
  • the pedestrian 1 is covered by the parked vehicles 2 and therefore can not be seen directly from the moving vehicle 3.
  • the surroundings sensor 5 of the parking vehicle 2 is activated when approaching. If the pedestrian 1 now enters this area 7 and moves in the direction of the road, this is a clear indication of a crossing intention.
  • a message about this critical situation is delivered to the environment by the vehicle 2, possibly also after a further data exchange with the communication module 11 of the pedestrian 1.
  • the affected vehicles 3, ie the other other road users 3 can now perform their own collision calculation based on the exact environment data or movement data or the movement history of the pedestrian 1 and initiate appropriate reactions in the moving vehicle 3, for example, give an audible warning or emergency braking or Perform evasive maneuvers.
  • This communication since this can be done in parked vehicles 2 activation of special sensors 5, with which the pedestrian / cyclist 1 concerned can be located much more accurately. Only by this additional information is a secure information about the intentional movement of the pedestrian / cyclist 1 available, with the help in a passing vehicle 3, a warning is displayed or even an active intervention in the vehicle can be done.
  • a pedestrian 1 goes without a communication module between parked vehicles 2 in the direction of the road.
  • a passing vehicle 3 would cross the path.
  • the pedestrian 1 eg a child
  • the pedestrian 1 is covered by the parked vehicles 2 and therefore can not be seen directly from the moving vehicle 3.
  • the environmental sensor system can also be activated by the passing vehicle 3.
  • the activation unit 4 is activated to activate the entire environment sensor 5 when approaching the parked vehicle, the entire environment sensor is woken up. If the pedestrian 1 now enters this area 7 and moves in the direction of the road, this is a clear indication of a crossing intention.
  • the affected vehicles 3, ie the other other road users 3 can now perform their own collision calculation based on the exact environment data or movement data or the movement history of the pedestrian 1 and corresponding reactions in initiate moving vehicle 3, for example, give an audible warning or perform emergency braking or evasive maneuvers.
  • the security architecture for improving the location of road users 1, in particular pedestrians and / or cyclists comprises at least a base unit 11 and a communication module 11a and an activation unit 4, an environment sensor 5, a receiving unit 8 and a control unit 9.
  • the components of the security architecture are not in a device physically connected, but the components 4, 8, 9, 11, 11 a, which form the security architecture, are located in different road users, ie individual components 11, 11a carry a pedestrian 1 and further components 4, 8, 9 are located in parked 2 or moving vehicles 3 or infrastructures such as e.g. a Warnbarke, with always very specific components 4,8,9 of the parking 2 and moving vehicle 3 are activated and communicate with each other.
  • the communication module 11a activates either in a dormant vehicle 2 via the activation unit 4, the environment sensor 5 of the vehicle 2 and then interacts indirectly with the moving vehicles 3 or communicates directly via the receiving unit 8 with the moving vehicles 3 and each directly information about the movement history of the pedestrian 1 delivers or indirectly via the environment sensor 5 of the parked vehicles. 2
  • Fig. 2 shows an overview of a possible structure for the base unit 11 and the communication module 11a of the road user 1, for example, a pedestrian or cyclist.
  • a base unit 11 for example, a smartphone or used a tablet PC, which carries the pedestrian / cyclist with it.
  • the base unit 11 is extended by a communication module 11a, wherein the base unit 11 and the communication module 11a, for example, are coupled to each other wirelessly or by wire 12.
  • the communication module 11a has a radio module, so that the communication module 11a can communicate with other road users 2, 3, for example via a Car2x direct connection (eg IEEE 802.11p).
  • the base module contains a telecommunication module 11b, eg a SIM module for a telecommunication connection 13 and a position determination unit 11c, eg a GPS locating module, for receiving and transmitting a satellite-based locating signal 14.
  • a module 11d further road users 2 are located in the surroundings, wherein the communication module 11a wakes up the activation unit 4 of the parked vehicle upon detection of another road user 2 in the vicinity of the pedestrian 1 by a wake-up signal via the radio link 6, and thus the environment sensor system 5 parked vehicle 2 goes into operation.
  • the Fig. 3 shows a possibility for retrofitting, in particular as the networking of an environment sensor 5 and a control unit 9 can take place during retrofitting.
  • the environment sensor 5 is additionally attached (eg in the form of Fig. 4 ).
  • a connection to the vehicle data network is not absolutely necessary, but could simplify the processing of information.
  • Fig. 4 shows a structural design of the retrofit module in the form of a license plate holder 10.
  • Fig. 5 One possibility for realizing the sequence of a recognition in a self-sufficient security architecture is in Fig. 5 shown.
  • a traffic participant 1 carrying the communication module 11a for example a pedestrian / cyclist, because the latter is in the detection area 7 of the surroundings sensor system of the other traffic participant 2, the relevant environment sensor system 5 is activated.
  • a pedestrian / cyclist 1 now steps through the Environment sensor 5 detected and this is on a critical path, ie on a collision course with, for example, a passing vehicle 3, the emission of a warning signal with the relevant data takes place. If no wake-up signal is received any more, there is a deactivation of the environment sensor 5 to reduce energy consumption.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
EP16206271.5A 2015-12-28 2016-12-22 Architecture de sécurité destinée à améliorer la localisation des usagers de la route et procédé associé Withdrawn EP3188157A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102015122852.1A DE102015122852A1 (de) 2015-12-28 2015-12-28 Sicherheitsarchitektur zur Verbesserung der Ortung von Verkehrsteilnehmern und zugehöriges Verfahren

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EP3188157A1 true EP3188157A1 (fr) 2017-07-05

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DE102017220139A1 (de) * 2017-11-13 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
US10347132B1 (en) 2018-10-30 2019-07-09 GM Global Technology Operations LLC Adjacent pedestrian collision mitigation
DE102021003353A1 (de) 2021-06-30 2023-01-05 Joynext Gmbh Verfahren und Fahrzeug zum Vermeiden einer Kollision mit einem Passagier
DE102021127275A1 (de) 2021-10-21 2023-04-27 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zur Überwachung einer Fahrzeugumgebung
DE102022212840A1 (de) 2022-11-30 2024-06-06 Robert Bosch Gesellschaft mit beschränkter Haftung System zur Erhöhung der Sicherheit mit Hilfe von beweglicher Infrastruktursensorik

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