CN107031627A - Whether control, which performs safety measure, reduces the method and apparatus that vehicle is collided with object - Google Patents
Whether control, which performs safety measure, reduces the method and apparatus that vehicle is collided with object Download PDFInfo
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- CN107031627A CN107031627A CN201610925543.3A CN201610925543A CN107031627A CN 107031627 A CN107031627 A CN 107031627A CN 201610925543 A CN201610925543 A CN 201610925543A CN 107031627 A CN107031627 A CN 107031627A
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- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000003068 static effect Effects 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims description 22
- 238000003801 milling Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 description 31
- 230000008569 process Effects 0.000 description 8
- 239000002023 wood Substances 0.000 description 7
- 238000003891 environmental analysis Methods 0.000 description 6
- 239000003550 marker Substances 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
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- 241001269238 Data Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
It is used to determine the present invention relates to a kind of method：The execution of one or more safety measures whether must be controlled to reduce the risk of collision that vehicle is collided with object, wherein the current environment of the vehicle is detected during vehicle is travelled is used for object detection, wherein, determined when detecting object：The execution of one or more safety measures whether must be controlled to reduce the risk of collision that the vehicle and the object are collided, wherein, the determination is performed with relevant as follows：Whether the detected object is stationary object, and whether the distance between the vehicle and the stationary object at least correspond to a predetermined minimum range when the object is stationary object so that be based only upon static object and be separated by a distance at least corresponding to the predetermined minimum range with the vehicle and determine that：The execution of one or more safety measures need not be controlled.
Description
Technical field
The present invention relates to a kind of method and apparatus, it is used to determine whether that the execution of one or more safety measures must be controlled
To reduce the risk of collision that vehicle is collided with object.The invention further relates to vehicle, parking lot and computer program.
Background technology
The A1 of open source literature DE10 2,012 222 562 show the system in the parking lot for operation by vehicle from starting
Position transfer is to target location.
In such transfer it is important that：Vehicle not with object, for example not with personnel or other vehicle collisions.
Generally, by the environment of environmentally sensitive technology for detection vehicle, so as to detect object in this context.Visiting
For example vehicle is stopped when surveying the object in vehicle environmental or vehicle continues to travel with the speed reduced.
But, it is not that each object in the environment of vehicle is same dangerous for vehicle, such case is related to
The risk of collision.That is, the parking or not total meaningful with the speed continuation traveling of reduction in object detection, because thus example
Such as generation time loss.
Required accordingly, there exist such：Identification or determine in the case of which of vehicle environmental object parking or with
The speed of reduction continues to travel meaningful.
The content of the invention
The task of the present invention is considered as：There is provided efficient scheme is used to efficiently determine：Whether one must be controlled
The execution of individual or multiple safety measures reduces the risk of collision that vehicle and object are collided.
The task is solved by the theme of each independent claims.The advantageous configuration of the present invention is each dependent claims
Theme.
It is used to determine there is provided a kind of method according to one side：Whether holding for one or more safety measures must be controlled
Go to reduce the risk of collision that vehicle is collided with object, wherein：
- detect that the current environment of the vehicle is used for object detection during vehicle is travelled,
- wherein, determined when detecting object：Whether the execution of one or more safety measures must be controlled to reduce car
With the object collide risk of collision,
- wherein, the determination relevant is performed with following：Whether detected object is stationary object, and work as object
Whether the distance between vehicle and stationary object at least correspond to a predetermined minimum range when being stationary object,
- such that be based only upon static object is separated by a distance at least corresponding to predetermined minimum range just with vehicle
It is determined that：The execution of one or more safety measures need not be controlled.
There is provided a kind of equipment according to another aspect is used to determine：The no execution that must control one or more safety measures comes
Reduce the risk of collision that vehicle is collided with object, the equipment includes：
- detection means, the detection means is constructed for detecting that the current environment of vehicle is used for thing during vehicle is travelled
Body is detected,
- determining device, the determining device is constructed for determining when detecting object：Whether one or many must be controlled
The execution of individual safety measure reduces the risk of collision that vehicle and object are collided,
- wherein, the determining device is constructed for and performs the determination relevantly as follows：Detected object whether be
Stationary object, and when the object is stationary object, whether the distance between vehicle and stationary object at least correspond to one in advance
Given minimum range,
- cause the determining device to be constructed for determining：So that be based only upon static object is separated by one at least with vehicle
Distance equivalent to predetermined minimum range is determined that：The execution of one or more safety measures need not be controlled.
According to another aspect there is provided a kind of vehicle, including for determining：Whether one or more safety measures must be controlled
Execution reduce the equipment for the risk of collision that vehicle and object are collided.
According to another aspect there is provided a kind of parking lot for vehicle, including for determining：It is no to control one or many
Equipment for performing the risk of collision to reduce vehicle and object collision of individual safety measure.
According to another aspect, there is provided a kind of computer program, (computer program includes the journey for being used to perform methods described
Sequence is encoded), when computer program is carried out on computers, the program coding is used to determine：It is no to control one or many
The execution of individual safety measure reduces the risk of collision that vehicle and object are collided.
The present invention especially and comprises additionally in such design：Do not drawn by the stationary object that certain distance is in vehicle
Safety measure is played, the distance corresponds at least to predetermined minimum range.This is especially when vehicle crosses such object
Situation.
That is, so long as object do not cause safety measure, the object then gets the brush-off or is ignored.Because, resting
Therefore body independently to vehicle movement and generally can not can not cause the collision with vehicle.Because setting is predetermined most
Small distance especially realizes such technological merit：Enough spaces of Handling Strategy for oneself are also provided to vehicle, without
Can immediately with stationary object collision.Predetermined minimum range is therefore corresponding to safe distance.Therefore realize that such technology is excellent
Point：Can efficiently it determine：The execution of one or more safety measures whether must be controlled and collided to reduce vehicle with object
Risk of collision.
It is provided with according to a kind of embodiment：When it is determined that the execution of one or more safety measures must be controlled to reduce car
During the risk of collision collided with object, then control what the execution of one or more safety measures was collided to reduce vehicle and object
Risk of collision.
Therefore, control device is set according to a kind of embodiment, it is one or more that the control device is constructed for control
The execution of safety measure reduces the risk of collision that vehicle and object are collided.
The environment of vehicle, i.e. vehicle environmental, are especially expressed as around vehicle periphery until 2 meters of region, preferably 1,5 meters,
Such as 1 meter.
Set according to a kind of embodiment：Safety zone is determined, the safety zone determines being drawn for vehicle current environment
Boundary and as the subregion included by detected environment, wherein, it is at least partially in detecting inside safety zone
Object when determine：The execution of one or more safety measures must be controlled, unless the detected object be it is static and
It is the object with convoy spacing certain distance, the distance corresponds at least to the predetermined minimum range.
Thus such technological merit is especially realized：It is not to be at least partially in being each detected inside safety zone
Object causes one or more safety measures.Thus, additionally it is possible to avoid in an advantageous manner：Vehicle unnecessarily carries out safety and arranged
Apply, these measures may for example cause the loss of time.Therefore, it is possible to realize such technological merit：The loss of time can be avoided.
By the safety zone for the subregion for setting the description for corresponding only to detected environment, especially realize such
Technological merit：So efficiently it can monitor object for the subregion smaller than detected environment.
Set according to a kind of embodiment：Safety zone is determined, the safety zone determines being drawn for vehicle current environment
Boundary and as the subregion included by detected environment, wherein, the safety zone is so matched during vehicle is travelled,
So that the subregion is to the static and object slot milling with convoy spacing at a certain distance, the distance is corresponded at least to
The predetermined minimum range, wherein, determined when detecting the object being at least partially in inside the safety zone of matching：
The execution of one or more safety measures must be controlled.
Thus, such technological merit is especially realized：It is static and at least between predetermined minimum range and vehicle
Every object is completely no longer as included by safety zone and is therefore also no longer able to cause safety measure.Because, safety measure
Generally only as caused by the object inside safety zone.
Statement " being at least partially in " especially includes：Object is completely in inside safety zone.
Set according to a kind of embodiment：The safety zone determines the being demarcated of vehicle current environment and by being detected
Subregion included by the environment of survey, wherein, determined when detecting the object being at least partially in inside safety zone：Must
Must the one or more safety measures of control execution, unless detected object be it is static and be at a certain distance with vehicle
The object at interval, the distance corresponds at least to the predetermined minimum range, wherein, so matching should during vehicle is travelled
Safety zone so that the subregion is to static and the object slot milling with convoy spacing, the distance at a certain distance
The predetermined minimum range is corresponded at least to, wherein, it is at least partially in detection inside the safety zone being matched
Determined during object：The execution of one or more safety measures must be controlled.
Set according to another embodiment：Of safety zone is performed relevantly with the vehicle location in numerical map
Match somebody with somebody, the position for the stationary object that is stored with the numerical map.
Thus such technological merit is especially realized：The matching can efficiently be performed.Because numerical map is with effective
The mode of rate provides information to use, and can efficiently be determined based on these information：Resting position in vehicle environmental
In where.Such information includes such as position of the stationary object inside numerical map.
Set according to a kind of embodiment：Receiving by communication network being determined in the current environment of vehicle
When object is the message of stationary object, the distance between measurement vehicle to the object being determined, wherein, only when measured distance
Correspond at least to match safety zone during predetermined minimum range.
Thus such technological merit is especially realized：Matching can efficiently be performed.Especially because the message, also can
Therefore independently realize that this is matched with the presence of numerical map.Enable in particular to efficiently be based on to supplement by such message
The matching of numerical map.
Set according to another embodiment：It is determined that：As long as the distance between stationary object and vehicle less than it is predetermined most
Small distance, then must control the execution of one or more safety measures.
Thus, such technological merit is especially realized：The risk with stationary object collision can efficiently be reduced.
Set according to a kind of embodiment：The equipment is configured or is configured for determine whether that one must be controlled or many
The execution of individual safety measure reduces the risk of collision that vehicle and object are collided, and is for determination to be practiced or carried out this method
The no execution that must control one or more safety measures reduces the risk of collision that vehicle and object are collided.
The technical functionality of the equipment is similarly drawn by the corresponding technical functionality of this method and vice versa.
Set according to a kind of embodiment：This method is practiced or carried out by the equipment.
Set according to a kind of embodiment：Determining device is constructed for determining safety zone, and the safety zone is determined
Vehicle current environment being demarcated and as the subregion included by detected environment, wherein it is determined that device is configured
For being determined when detection is at least partially in the object inside safety zone：Holding for one or more safety measures must be controlled
OK, unless the detected object is static and is object at a certain distance with convoy spacing, the distance is at least corresponding
In the predetermined minimum range.
Set in another embodiment：Determining device is constructed for determining safety zone, and the safety zone is determined
Vehicle current environment being demarcated and as the subregion included by detected environment, wherein it is determined that device is configured
For so matching safety zone during the traveling of vehicle：The subregion is to static and at a certain distance between vehicle
Every object slot milling, the distance corresponds at least to the predetermined minimum range, wherein, detecting at least part
Determined during object inside safety zone：The execution of one or more safety measures must be controlled.
Set according to a kind of embodiment：Determining device is constructed for ground relevant with the position in vehicle numerical map
Perform the matching of safety zone, the position for the stationary object that is stored with the numerical map.
Set in another embodiment：Set distance-measuring device, the distance-measuring device be constructed for by
Vehicle is measured when the object being determined that communication network receives in the current environment of vehicle is the message of stationary object to quilt
The distance between object of determination, wherein, the determining device be constructed for only when measured distance correspond at least to it is pre- to
Safety zone is matched during fixed minimum range.
Set in another embodiment：Determining device is configured for：If between stationary object and vehicle away from
From less than predetermined minimum range, it is determined that the execution of one or more safety measures must be controlled.
Set according to a kind of embodiment：One or more of safety measures are the composition portions of following safety measure group
Point：Reduce current vehicle speed, the brake apparatus of vehicle prepares braking, performs the environmental analysis to the safety zone of matching, performs tight
Jerk car.
By the setting, that is, reduce current vehicle speed, especially realize such technological merit：Can also further efficiently
Reduce risk of collision.Thus, enable in particular to realize such technological merit：If triggering collision, due to the speed energy of reduction
Enough reduce the order of severity of accident.It is that speed is reduced to the speed more than 0m/s to reduce speed.Vehicle with the speed that reduces after
Continue and sail.
Especially, the brake apparatus of vehicle, which prepares braking, especially has such technological merit：When needing braking moment, system
The reaction time of dynamic device is efficiently reduced.Thus, it is possible to efficiently shorten braking distance in an advantageous manner.
Especially, performing the environmental analysis to safety zone especially has such technological merit：Can efficiently it determine：
Object relative vehicle will be moved on what direction.Thus, enable in particular to efficiently estimate or determine in an advantageous manner：Can
The risk of collision that can be collided has much.Especially, environmental analysis of the performing environment analysis corresponding to the safety zone for repeating to be matched.
Thereby, it is possible to for example realize such technological merit：The possible event in environmental analysis before can efficiently be recognized
Barrier so that can correspondingly make a response afterwards.
Especially, perform to stop in emergency especially and there is such technological merit：It further can also efficiently reduce collision
Risk.Especially, if triggering collision, the order of severity of accident thus efficiently can also further be reduced.Stop in emergency outstanding
It refers to stop vehicle with the braking moment (full application of brake) of maximum possible.
Set according to another embodiment：The execution include one in the safety measure or multiple safety measures or
Multiple remote controls.
Thus, such technological merit is especially realized：Vehicle is not necessarily constituted for independently determining hold in itself
Row wherein which safety measure.Because this is performed in outside vehicle, i.e., vehicle is remotely controlled.Remote control or long-range control
Device processed especially includes：Remote control instruction is sent by communication network to vehicle, the vehicle can respond these and refer to
Order ground performs one or more of safety measures.
So, set according to a kind of embodiment, such remote control vehicle：Reduce current speed.Especially, according to one
Plant embodiment to set, such remote control vehicle：The brake apparatus of vehicle prepares braking.Set in particular according to a kind of embodiment
Put, such remote control vehicle：Vehicle is performed and stopped in emergency.That is, stop vehicle to remote control.
Set in another embodiment：Monitoring includes, and analysis environments data judge the thing moved in safety zone
Body and/or the object inside safety zone, wherein, environmental data is provided by one or more environmental sensors, these
Environmental sensor has detected the safety zone being matched, wherein, one or these environmental sensors are wrapped by vehicle
Include and/or be arranged in the vehicle environmental of vehicle.
Thus, such technological merit is especially realized：It is able to carry out the efficient environmental analysis of safety zone.If both
Using the environmental sensor included by vehicle, it is used for environment using the environmental sensor by being arranged in the vehicle environmental of vehicle again
Analysis, then especially realize such technological merit：High redundancy can be realized.
According to a kind of embodiment, monitoring includes：By one or more environmental sensors (such as vehicle and/or parking
The environmental sensor of field) detection safety zone, to try to achieve the environmental data for corresponding to detected safety zone, provide afterwards
These environmental datas are used for environmental analysis.
According to a kind of embodiment, an environmental sensor and/or these environmental sensors are following environmental sensors
Element in group：Radar sensor, laser radar sensor, laser sensor, video sensor, ultrasonic sensor, magnet
Sensor, infrared sensor, grating sensor.
According to a kind of embodiment, equipment includes one or more environmental sensors.Especially, detection means include one or
Multiple environmental sensors.
According to a kind of embodiment, vehicle includes one or more environmental sensors.
According to a kind of embodiment, parking lot includes one or more environmental sensors.
Constituted according to a kind of embodiment or set up vehicle, to be practiced or carried out the method according to the invention.
Set according to another embodiment：Constituting or set up parking lot is used to be practiced or carried out the method according to the invention.
According to a kind of embodiment, the PORT COM of communication is provided for by communication network.PORT COM is for example by car
Included by.PORT COM is for example as included by equipment.PORT COM is for example included by parking facility.
According to a kind of embodiment, communication network includes wireless network and/or mobile phone mobile network.
In one embodiment, communication network includes the communication network according to LoRa standards." LoRa " represents low-power
Wide scope communicates (Low-Power Wide-Range Communication).Therefore according to a kind of embodiment, the communication network
Network includes LoRa communication networks.
In one embodiment, communication is encrypted by communication network and/or is encryption.
Set in one embodiment：Vehicle is travelled in inner part of parking lot, such as in the parking lot according to the present invention
Portion.
Parking lot in meaning of the present invention can also be referred to as parking area and the parking area as vehicle.Parking lot
Especially constitute coherent face, the face have multiple parking stalls (in the case of the parking lot on private land) or stop (
In the case of parking lot on community land).According to a kind of embodiment, parking lot is configured to sky parking.According to one
Embodiment is planted, parking lot is configured to garage parking.
According to a kind of embodiment, vehicle non-driver or travelled without pilot.For example, vehicle non-driver or
Travelled without pilot in inner part of parking lot.
Vehicle is pilotless or traveling of without pilot includes：Vehicle is remotely controlled.According to a kind of embodiment, this
The vehicle of sample is pilotless or traveling of without pilot includes：Vehicle independently, i.e., is independently travelled.Independently travelled in vehicle
In the case of, set according to a kind of embodiment：Vehicle is supported at least in part herein, that is, is aided in.That is, vehicle is for example certainly
It can be aided in during main traveling.It is such auxiliary for example including：By communication network running data, vehicle base are sent to vehicle
Can independently it be travelled in these running datas.Such data include such as map datum of parking lot numerical map, will be by
The nominal trajectory data for the nominal trajectory that vehicle is crossed, in inner part of parking lot, the target of target location to be sailed to by vehicle
Position data.
According to a kind of embodiment, vehicle performs automatic stopping process in inner part of parking lot.That is, the traveling of vehicle by
Included by automatic stopping process.Such automatic stopping process can also be looked at as AVP processes." AVP " representative " automatic parking
(Automated Valet Parking) " and automatic stopping process can be translated as.
In the scope of such AVP processes, vehicle inner part of parking lot automatically (be remotely controlled ground or independently or
Part way independently and other section remote controls) traveling, to be parked on parking spot.That is, in such AVP mistakes
For example set in the scope of journey：Vehicle automatically traveling and automatic stop there from delivery position to parking spot, at this
On delivery position, vehicle parking is used to perform AVP processes by the driver of vehicle.According to a kind of embodiment, AVP processes
Including：Vehicle is automatically from parking spot to extracting position traveling and stopping automatically there, on the extraction position, personnel
The vehicle can be received again.
Therefore, in the scope of traveling pilotless or without pilot, human pilot in itself need not be again in the vehicle
Middle guiding vehicle.
Object in meaning of the present invention is for example other vehicles, animal, and people or static infrastructure elements are (for example：Post
Son, wall, railing, kerb).These static infrastructure elements are for example included by parking facility.
Stationary object in meaning of the present invention is such object, and these objects have 0m/s present speed.Therefore, example
Vehicle as stopped is stationary object.Although vehicle can be moved, you can with the speed more than 0m/s, when vehicle stops
Car, that is, be divided into stationary object when stopping.
Stationary object in meaning of the present invention especially static infrastructure elements, for example：Pillar, wall, railing, roadside
Stone.Static infrastructure elements are for example included by parking facility.
Stating "or" especially includes statement "and/or".
Brief description of the drawings
Next, the present invention is described in detail by preferred embodiment.Shown here as：
The flow chart of Fig. 1 methods is used to determine：Whether the execution of one or more safety measures must be controlled to reduce car
With object collide risk of collision；
Fig. 2 equipment is used to determine：Whether the execution of one or more safety measures must be controlled to reduce vehicle and object
The risk of collision of collision；
Fig. 3 vehicles；
Fig. 4 is used for the parking lot of vehicle；
The Fig. 3 of Fig. 5 during the traveling of the inner part of parking lot with safety zone vehicle；
Fig. 6 is according to the matching of Fig. 5 safety zone；
Fig. 7 according to the matching of Fig. 6 another safety zone and；
Fig. 8 is according to Fig. 5 safety zone.
Embodiment
Fig. 1 shows a kind of flow chart of method, and this method is used to determine：Whether one or more safety measures must be controlled
Execution reduce the risk of collision that vehicle and object are collided, wherein,
- detect that the current environment of vehicle is used for object detection 101 during vehicle is travelled,
- wherein, determine 103 when detecting object：Whether the execution of one or more safety measures must be controlled to subtract
The risk of collision that small vehicle is collided with object,
- wherein, the determination 103 relevant is performed with following：Whether detected object is stationary object, and work as thing
Whether the distance between vehicle and the stationary object at least correspond to a predetermined minimum range when body is stationary object,
- such that be based only upon static object is separated by a distance at least corresponding to predetermined minimum range just with vehicle
It is determined that：The execution of one or more safety measures need not be controlled.
Fig. 2 shows a kind of equipment 201, for determining：Whether the execution of one or more safety measures must be controlled to subtract
The risk of collision that small vehicle is collided with object.
Equipment 201 includes：
- detection means 203, the detection means is constructed for detecting that the current environment of vehicle is used for during vehicle is travelled
Object detection,
- determining device 205, the determining device is constructed for determining when detecting object：Whether one must be controlled
Or the execution of multiple safety measures reduces the risk of collision that the vehicle and the object are collided,
- wherein, the determining device 205 is constructed for and performs the determination relevantly as follows：Detected object is
No is stationary object, and whether the distance between vehicle and the stationary object are at least suitable when the object is stationary object
In a predetermined minimum range,
- cause the determining device 205 to be constructed for determining：So that be based only upon static object is separated by one extremely with vehicle
Few distance equivalent to predetermined minimum range is determined that：The execution of one or more safety measures need not be controlled.
Set according to a kind of form of implementation：When it is determined that：When must control the execution of one or more safety measures, then in control
System is lower to perform one or more of safety measures.Set control device one or more for controlling according to a kind of embodiment
The execution of safety measure reduces the risk of collision that vehicle and object are collided.Control device is for example constructed for remote control car
.I.e. especially：Perform to remote control according to a kind of safety measure of embodiment.
Equipment 201 is for example including the control device.
Fig. 3 shows to include the vehicle 301 of Fig. 2 equipment 201.Due to sketching without showing element 203,205.
According to a kind of form of implementation, vehicle 301 includes the PORT COM for being used to communicate by communication network.
According to a kind of form of implementation, equipment 201 includes the PORT COM for being used to communicate by communication network.
Fig. 4 shows the parking lot 401 for vehicle, wherein, parking lot 401 includes Fig. 2 equipment 201.Due to summary
Element 203,205 is not shown.
According to a kind of form of implementation, parking lot 401 includes the PORT COM for being used to communicate by communication network.
According to a kind of form of implementation, parking lot 401 includes multiple environmental sensors being arranged in inside the parking lot 401.
According to a kind of form of implementation, vehicle 301 includes the current environment that multiple environmental sensors are used to detect vehicle.
According to a kind of form of implementation, detection means 203 includes one or more environmental sensors.
Fig. 5 shows parking lot 501, and the parking lot is for example equally constituted with Fig. 4 parking lot 401.
Inside parking lot 501, vehicle 301 is sailed runway is up.The travel direction of vehicle 301 is with reference marker
505 arrow is predetermined.Another runway 509 is set, and the runway extends parallel to runway 507 and by dotted line 511
Separate with runway 507.
Due to summary, the equipment 201 of vehicle 301 is not shown in Figure 5.
Multiple parking spots 513 are constituted or are disposed with transverse to two runways 507,509.These parking spots for example by
It is configured to parking area.These parking spots 513 correspond to stop position or stop.
Pillar or block of wood are represented with reference marker 517, they are so arranged on some parking spots 513：These posts
Son or block of wood are extended at least partially on runway 507,509.
Storage has another vehicle 515 on a parking spot 513 wherein.The vehicle, which is put, extends at least partially into runway
In 507.
Block of wood or pillar 517 and another vehicle 515 are stationary objects.
Safety zone 503 is set, and one stroke of the environment of vehicle 301 is arranged and corresponded in the region around vehicle 301
The subregion on boundary.The place of safety 503 is monitored by the detection means 203 for object detection.As long as inside place of safety 503
Object is detected, then generally controls the execution of one or more safety measures.But, when so detected object be at least with
During the stationary object of predetermined minimum range and convoy spacing, then this is usually necessary.
When vehicle 301 is moved along travel direction 505 on runway 507, especially above-mentioned stationary object, i.e. another car
515 and pillar 517, usually arrive in safety zone 503.
Currently, in order to prevent：These are not indicated that generally for vehicle 301 always causes safety to be arranged for dangerous stationary object
Apply, then set according to the present invention is for example following：
Safety zone 503 is so matched according to Fig. 6：During vehicle 301 crosses pillar 517, the safety zone for example to
Pillar or the slot milling of block of wood 517.The safety zone accordingly matched in figure 6 is provided with reference marker 601.Therefore, with favourable
Mode avoid：The safety zone 601 of matching includes pillar 517.Thus, avoid in an advantageous manner：Pillar 517 can cause
One or more safety measures.This can occur when pillar enters in safety zone 503 when vehicle 301 crosses pillar 517.
But, for overall so matching safety zone 503 during crossing：The slot milling of pillar 517 is given in safety zone,
Following condition must also be met：Distance 602 between vehicle 301 and pillar 517 must at least correspond to one it is predetermined
Minimum range.So long as not such case, then safety zone 503 is mismatched so that when vehicle 301 crosses pillar 517, the post
Son is reached in place of safety 503, and this then causes one or more safety measures.
Fig. 7 shows another matching scheme of the safety zone 601 when vehicle 301 crosses pillar 517.So match place of safety
Domain 601：The space reserved to pillar 517 is when crossing with movement.In the figure 7, matched in the candid photograph image when crossing
Place of safety with mobile space is provided with reference marker 701.The place of safety 701 of matching is also therefore to block of wood or pillar
517 slot millings.
Fig. 8 illustratively shows another possibility scheme for preventing stationary object from causing safety measure.
The form fit of safety zone 503 is not provided with according to the embodiment so that when vehicle 301 crosses pillar 517,
Pillar 517 can be fully located inside safety zone 503.As long as however, the distance between pillar 517 and vehicle 301 602 is at least
The minimum range predetermined equivalent to one then individually will not cause safety due to the pillar 517 inside safety zone 503
Measure.
But, as long as then whether being that stationary object is independently total with detected object less than predetermined safe distance
It is to perform one or more safety measures.
The present invention is especially and also including such design：Efficient technical scheme is provided, can be had based on the program
Efficient determine：The execution of one or more safety measures whether must be controlled to reduce the collision wind that vehicle is collided with object
Danger.
It can be especially according to the basic conception of the present invention：As long as stationary object does not cause the damage of vehicle when crossing,
The stationary object (such as parked vehicle, wall, block of wood) is then not taken care always.Standard is：This does not cause vehicle always
Damage, must especially observe predetermined minimum range.
Set according to a kind of embodiment：Calculate around stationary object (stationary object slot milling is given in safety zone)
Safety zone, the stationary object at least observe the minimum range predetermined relative to vehicle.
Set according to a kind of embodiment：Though at least observe the stationary object of the minimum range predetermined relative to vehicle
So allow infringement safety zone (allowing partly, to be especially fully in inside safety zone), but do not cause one or many
Individual safety measure.
According to a kind of embodiment, safety zone has rectangular shape, round-shaped, elliptical shape or curve shape.It is bent
Wire shaped refers to that the shape has been matched and/or has been matched with curve.Curve is, for example, the curve that vehicle is crossed.Safety zone because
And it is matched with the curve shape crossed.This steering light for example similar to adaptation.
According to a kind of embodiment, safety zone, the monitoring for the safety zone being especially matched are by one or more rings
Border sensor is performed.The multiple environmental sensor is, for example, the part of environment sensor system.It is this according to a kind of embodiment party
Formula, using vehicle and/or parking lot infrastructure environmental sensor and/or using vehicle and parking lot infrastructure
Environmental sensor.
For example caused either individually or in combination by following system/information source according to following embodiment herein or
Understanding to stationary object is provided and so that the understanding to the trigger for matching (change) safety zone shape is provided.
Such as numerical map is available for the understanding of stationary object to use.In this numerical map, such as the number in parking lot
In word map, stationary object has been charged to.The numerical map is for example stored in vehicle.For example in parking management system, number
Word map is saved for managing parking and delivers numerical map to vehicle by communication network from managing system of car parking.
According to a kind of embodiment, the equipment by parking lot, especially by can for example include the parking lot management of the equipment
System, message is sent by communication network to vehicle：The object being determined in the current environment of vehicle is stationary object.That is,
For example the traveling in the vehicle of inner part of parking lot is monitored by the environmental sensor in parking lot.It so can determine that：In parking lot
Internal vehicle be located at where and be related to：Whether the object in the environment of vehicle is stationary object.According to a kind of embodiment party
Formula, the information is informed by communication system to vehicle.
According to a kind of embodiment, vehicle for example detects corresponding stationary object by environmental sensor in itself.For example by means of
Image procossing is helped to recognize block of wood.
Claims (15)
1. it is used to determine whether to control what the execution of one or more safety measures was collided to reduce vehicle (301) with object
The method of risk of collision, wherein,
- detect that the current environment of the vehicle (301) is used for object detection (101) during vehicle (301) is travelled,
- wherein, determine (103) when detecting object：Whether the execution of one or more safety measures must be controlled to reduce
The risk of collision that the vehicle (301) is collided with the object,
- wherein, it is described to determine that (103) are performed with relevant as follows：Whether the detected object is stationary object, and
The distance between the vehicle (301) and the stationary object (515,517) when the object is stationary object (515,517)
Whether a predetermined minimum range is at least corresponded to,
- to be based only upon static object (515,517) and the vehicle (301) be separated by one at least correspond to it is described predetermined
The distance of minimum range determine that：The execution of one or more safety measures need not be controlled.
2. according to the method described in claim 1, wherein, safety zone (503) determines that the safety zone determines institute
State the current environment of vehicle (301) one is demarcated and by the subregion of detected environment, wherein, in detection
To object be at least partly at the safety zone (503) it is interior when determine：Except the detected object be it is static and
And the object (515,517) of a distance at least corresponding to the predetermined minimum range is spaced with the vehicle (301)
Outside, it is necessary to control the execution of one or more safety measures.
3. method according to claim 1 or 2, wherein, a safety zone (503) determines that the safety zone is determined
One of the current environment of the vehicle (301) is demarcated and by the subregion of detected environment, wherein, institute
Safety zone (503) is stated so to be matched during the vehicle (301) is travelled：The subregion to it is static and with institute
The object (515,517) for stating the distance that one, vehicle (301) interval at least corresponds to the predetermined minimum range reserves sky
Between, wherein, determined when the safety zone (601,701) for detecting object and being at least partly at the matching is interior：It must control
Make the execution of one or more safety measures.
4. method according to claim 3, wherein, the matching of the safety zone (503) and the vehicle (301) are in number
Position in word map is performed relevantly, the position for stationary object (515,517) that are stored with the numerical map.
5. the method according to claim 3 or 4, wherein, receiving working as in the vehicle (301) by communication network
When the object being determined in preceding environment is the message of stationary object (515,517), the vehicle (301) is measured to what is be determined
The distance between described object, wherein, the safety zone (503) only when the measured distance correspond at least to it is predetermined
Minimum range when be just matched.
6. the method according to any one of preceding claims, wherein it is determined that：As long as the stationary object (515,
517) distance between the vehicle (301) is less than the predetermined minimum range, then must control one or many
The execution of individual safety measure.
7. it is used to determine whether to control what the execution of one or more safety measures was collided to reduce vehicle (301) with object
The equipment (201) of risk of collision, including：
- detection means (203), the detection means is constructed for detecting working as vehicle (301) during vehicle (301) is travelled
Preceding environment is used for object detection,
- determining device (205), the determining device is constructed for determining when detecting object：
The execution of one or more safety measures whether must be controlled to reduce the vehicle (301) and touching that the object is collided
Hit risk,
- wherein, the determining device (205) is constructed for and performs the determination relevantly as follows：
Whether the detected object is stationary object (515,517), and the car when the object is stationary object
Whether the distance between (301) and the stationary object (515,517) at least correspond to a predetermined minimum range,
- cause the determining device (205) to be constructed for determining：So that be based only upon static object (515,517) with it is described
Vehicle (301) is separated by a distance at least corresponding to the predetermined minimum range and determined that：One need not be controlled or many
The execution of individual safety measure.
8. equipment (201) according to claim 7, wherein, the determining device (205) is constructed for determining place of safety
Domain (503), the safety zone one that the current environment of the vehicle (301) is determined is demarcated and by detected ring
The subregion that border is surrounded, wherein, the determining device (205) is constructed for being at least partly at institute detecting object
State safety zone (503) it is interior when determine：Except the detected object be stationary object (515,517) and with the vehicle
(301) it is spaced one at least correspond to outside the distance of the predetermined minimum range, it is necessary to control one or more safety
The execution of measure.
9. the equipment (201) according to claim 7 or 8, wherein, the determining device (205) is constructed for determining peace
Region-wide (503), the safety zone one that the current environment of the vehicle (301) is determined is demarcated and by being detected
Environment subregion, wherein, the determining device (205) is constructed for when the vehicle (301) is travelled this
Sample matches the safety zone (503)：The subregion is given static and is spaced an at least phase with the vehicle (301)
When object (515,517) slot milling of the distance in the predetermined minimum range, wherein, the determining device (205)
It is constructed for determining when the safety zone (601,701) for detecting object and being at least partly at matching is interior：It must control
The execution of one or more safety measures.
10. equipment (201) according to claim 9, wherein, the determining device (205) is constructed for and the car
The position of (301) in numerical map about perform the matchings of safety zone (503), be stored with the numerical map
The position of stationary object (515,517).
11. the equipment (201) according to claim 9 or 10, wherein, distance-measuring device, the range measurement dress are set
Put and be constructed for：It is in the object being determined received by communication network in the current environment of the vehicle (301)
During the message of stationary object (515,517), the distance between described vehicle (301) of measurement to the object being determined, wherein,
The measurement apparatus (205), which is configured, to be only used in institute's ranging from matching institute when corresponding at least to the predetermined minimum range
State safety zone (503).
12. the equipment (201) according to any one of claim 7 to 11, wherein, the determining device (205) is configured
For determining：As long as the distance between the stationary object (515,517) and the vehicle (301) less than it is described it is predetermined most
During small distance, then the execution of one or more safety measures must be controlled.
13. vehicle (301), including the equipment (201) according to any one of claim 7 to 12.
14. for the parking lot (401,501) of vehicle (301), including the equipment according to any one of claim 7 to 12
(201)。
15. computer program, be included in is used to perform according to any in claim 1 to 6 when it is carried out on computers
The program coding of method described in.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015220644.0 | 2015-10-22 | ||
| DE102015220644.0A DE102015220644A1 (en) | 2015-10-22 | 2015-10-22 | Method and apparatus for determining whether a performance of one or more security actions to reduce a collision risk of a collision of a motor vehicle with an object must be controlled |
Publications (2)
| Publication Number | Publication Date |
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| CN107031627A true CN107031627A (en) | 2017-08-11 |
| CN107031627B CN107031627B (en) | 2021-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610925543.3A Active CN107031627B (en) | 2015-10-22 | 2016-10-24 | Method and apparatus for controlling execution of safety measures to reduce collision of vehicle with object |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107031627B (en) |
| DE (1) | DE102015220644A1 (en) |
| FR (1) | FR3042766B1 (en) |
Cited By (2)
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| CN109421701A (en) * | 2017-08-31 | 2019-03-05 | 罗伯特·博世有限公司 | For guiding to non-driver the scheme of motor vehicle on the inclined ramp in parking lot |
| CN109703552A (en) * | 2018-12-28 | 2019-05-03 | 百度在线网络技术（北京）有限公司 | The method, apparatus and equipment of autonomous parking, computer readable storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| FR3042766A1 (en) | 2017-04-28 |
| CN107031627B (en) | 2021-07-13 |
| FR3042766B1 (en) | 2019-10-18 |
| DE102015220644A1 (en) | 2017-04-27 |
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