EP1816622B1 - Motor vehicle comprising at least one device for emitting acoustic and/or optical information and method for controlling a motor vehicle when approaching an emergency vehicle with right of way - Google Patents

Motor vehicle comprising at least one device for emitting acoustic and/or optical information and method for controlling a motor vehicle when approaching an emergency vehicle with right of way Download PDF

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Publication number
EP1816622B1
EP1816622B1 EP20070001105 EP07001105A EP1816622B1 EP 1816622 B1 EP1816622 B1 EP 1816622B1 EP 20070001105 EP20070001105 EP 20070001105 EP 07001105 A EP07001105 A EP 07001105A EP 1816622 B1 EP1816622 B1 EP 1816622B1
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European Patent Office
Prior art keywords
information
vehicle
emergency vehicle
control device
signal
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EP20070001105
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German (de)
French (fr)
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EP1816622A3 (en
EP1816622A2 (en
Inventor
Ingrid Paulus
Günther Fischhaber
Cornelius Fabian Menig
Christian Hilpoltsteiner
Wolfram Remlinger
Peter Jocher
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Audi AG
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Audi AG
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle

Definitions

  • the invention relates to a motor vehicle comprising at least one device for outputting acoustic and / or optical information and an associated control device which determines the information to be output and controls the output.
  • emergency vehicles such as the police, fire brigade, medical services or municipal enterprises, which need to arrive at the scene as quickly as possible in emergencies, and can claim their right of way as a result, a blue light mounted on the roof and a bugle over which facilities are located Road users are informed of the approaching emergency vehicle and the drivers of these vehicles are required to pass the emergency vehicle as possible without hindrance.
  • the blue light or the horn is not early enough or not perceived by the drivers, especially if in the vehicle, for example, music is heard or the driver converses with other people in the vehicle. This may result in the emergency vehicle being forced to brake hard, evade, or seek another route because the motor vehicle that has not perceived the approaching emergency vehicle is not clearing the lane, thus blocking the path.
  • Another problem is that when recognizing the situation that an emergency vehicle is approaching, some drivers are often overwhelmed and do not know how to respond and, in particular, whether they have anything to react to. Because an emergency vehicle that drives in the opposite direction is usually irrelevant to the driver, he So he does not have to change his driving style. Nevertheless, it is often not possible to detect the situation, in particular solely via the acoustic signal of the emergency vehicle, for the driver.
  • DE 10 2004 027 953 discloses a driver assistance system for detecting an emergency vehicle approaching a vehicle.
  • the invention is therefore based on the problem to provide a motor vehicle that can assist the driver in detecting the situation depending on the same.
  • a motor vehicle of the type mentioned has a communicating with the control device receiving device for a vor marssdorfen emergency vehicle signal transmitted containing this emergency vehicle indicative and indicating the direction signal information, and that the control device for generating and Output of a behavior information for the driver is formed as a function of the received signal information.
  • the motor vehicle according to the invention uses the technically given possibility of "car-to-car communication", that is to say the wireless communication of vehicles with one another, which is preferably carried out on the basis of the WLAN standard. About this wireless communication option information can be exchanged between two vehicles. This circumstance is now making use of the motor vehicle according to the invention.
  • a receiving device preferably embodied as a combined transmitting and receiving device, via which a signal can be received from a pre-authorized emergency vehicle, which can be given continuously or intermittently.
  • This signal contains a plurality of signal information, a first, which generally indicates the presence of an emergency vehicle in the reception area of the own motor vehicle, and a second signal information, which indicates the direction of travel.
  • the signal or its signal information is now evaluated and behavioral information for the driver that may be of different nature is generated.
  • the heading information indicates that the emergency vehicle is on the opposite lane, for example, separated by a median strip (highway, multi-lane urban road, etc.), the driver can, for example, on a display that modern cars usually have a visual indication "emergency vehicle drives on opposite lane, no reaction required "or be acoustically output via a corresponding infotainment system via the radio loudspeakers. If it emerges from the direction information that the emergency vehicle is in its own lane, the information can be different depending on the relative position of the emergency vehicle to its own vehicle.
  • the driver receives an information which he can in any case record about the presence of an emergency vehicle in his immediate vicinity, as well as information which describes the further behavior required or recommended by him.
  • the system according to the invention works expediently even with a low equipment level of vehicles with corresponding transmitting / receiving devices with associated control device, since even the automatic transmission of only a few vehicles, in particular in the urban area, is advantageous in reducing any impediments.
  • Another circumstance is that many other road users who do not have a system according to the invention, are automatically oriented to the front or rear man. If this is equipped with a system according to the invention, it reacts expediently and appropriately so that the positive effect of the system can be increased by the "imitation" of other road users.
  • the behavior information contains information about the route to be selected directly, in particular for the formation of a driving lane for the emergency vehicle. From this information, the driver is freed from the self-made, often difficult, decision to make in which direction to avoid a lane and pass the emergency vehicle. Because according to the invention, the controller generates based on the information available to her a behavioral recommendation that indicates in which direction the driver has to evade, for example, to the right or left, depending on where he is to clear the tram, or in the crossing area, where may be instructed to continue straight ahead, provided that the situation is such that turning of the emergency vehicle is likely.
  • the signal information also contains information about the future driving route of the emergency vehicle, wherein the control device is designed to generate the behavioral information in consideration of this information.
  • This driving route information of the emergency vehicle is quasi a forward-looking, future route information about the route selected by the emergency vehicle to the destination, this information z. B. from an operational vehicle-side navigation system, in which the destination, ie where the emergency vehicle goes, is defined. If it is now known on the part of the control device in which direction the emergency vehicle wishes to drive, the behavior recommendation with regard to avoidance or the like can be generated in a more substantiated manner.
  • the controller may also consider this information.
  • the signal information includes the message that the emergency vehicle is on a three lane highway If the center alley wants to drive or drives, the control device can carry out the generation of the behavioral information accordingly.
  • This information for example, from a driver assistance system of the emergency vehicle, such as a navigation system or lane departure warning system (LDW system) (LDW system) (lane departure warning system), which system detects the lane and can also be determined over which lane is being used by the emergency vehicle , generated and transmitted to the own motor vehicle.
  • LDW system lane departure warning system
  • the control device is communicatively connected to a driver assistance system integrated on the vehicle side, in particular a navigation system, and designed to determine the behavioral information as a function of the position and / or lane data of the own vehicle determined by the driver assistance system, in particular the navigation system.
  • a driver assistance system any system can be used that provides appropriate data, such as an integrated navigation system or a lane detection system (LDW system).
  • DGP differential global positioning
  • An expedient development of the invention provides that signals transmitted via the receiving device and also from other vehicles containing signal information about or relating to the respective vehicle receivable are, wherein the control device is designed to generate the behavior information in response to this signal information.
  • a plurality of vehicles equipped with the same suit communicate with one another and exchange data, that is, they balance the corresponding information with one another and can react with one another. If, for example, it results that other vehicles equipped with a corresponding transceiver device, which drive behind their own vehicle and are relatively closer to the approaching emergency vehicle, have determined as behavioral information that the driver deliberately escapes to the left, this information is also correct for the own motor vehicle of benefit, as an appropriate adjustment can be made and the behavior recommendation also indicates a dodge to the left.
  • the situation may be slightly different again, here, depending on the vehicle's own position, it can be recognized via the comparison that, for example, two vehicles traveling directly behind the own vehicle have moved to the left, and thus possibly the intersection area has already been adequately occupied so that it could come to a blockage in a left to the left by your own motor vehicle.
  • the control device can recognize this and then output a correspondingly differently designed behavioral information due to the adjustment.
  • the invention relates to a method for the guidance of a motor vehicle when approaching a right of way authorized emergency vehicle.
  • This method is characterized in that the emergency vehicle continuously or intermittently sends a signal containing signal information indicating the emergency vehicle itself and its direction of travel via a transmitting device, which receive signal from a motor vehicle located in the receiving area via a receiving device and an associated control device is processed to generate and output a behavior information to the driver in response to the signal information.
  • the behavior information preferably contains information about the route to be selected directly, in particular for forming a driving lane for the emergency vehicle, thus indicating in which direction the driver should avoid or continue, or how he generally has to behave and react.
  • the signal information of the emergency vehicle may also contain information about the future driving route of the emergency vehicle, which is taken into account by the control device for generating the behavioral information, as the signal information may also contain information about the desired, future driven lane. All signal information relating to position or lane data is preferably determined by a corresponding driver assistance system of the emergency vehicle and the signal information is impressed on the transmitted signal.
  • the control device itself communicates expediently with a vehicle-integrated driver assistance system, in particular a navigation system, and determines the behavioral information as a function of the position and / or lane data determined by the driver assistance system.
  • a car-to-car communication with other motor vehicles having corresponding combined transmitting and receiving devices preferably also takes place via WLAN communication means, so that the vehicles can exchange corresponding data with one another, which is expedient for generating the behavior information are.
  • the range of the transmitting and receiving devices is in particular in the known WLAN technology in the range between 300 - 500 m, so that a sufficiently early, but not too early warning possibility or information generation is possible.
  • any car-to-car communication such as a multi-hop method may be used.
  • An expedient development of the invention provides that the emergency vehicle communicates with a central control center, from which information concerning the target to be approached by the emergency vehicle containing target position information is transmitted, depending on which a driver assistance system integrated in the emergency vehicle, in particular a navigation system automatically switched on.
  • the driver of the emergency vehicle is therefore relieved of programming the destination, for example, in the navigation system. Rather, this happens automatically via a corresponding communication between the driver assistance system of the emergency vehicle and a control center.
  • the latter In the presence of a travel command, the latter automatically sends a corresponding signal to the emergency vehicle via which the driver assistance system is immediately switched on and is automatically programmed, at least with regard to the target position.
  • corresponding position or lane data are continuously recorded by the driver assistance system, which can then be transmitted as signal information to the surrounding road users, so they are equipped with a corresponding transmitting and receiving device together with control device.
  • Fig. 1 shows in the form of a schematic representation of an inventive motor vehicle 1, comprising a transmitting and receiving device 2, which is designed for wireless signal transmission or wireless signal reception, in particular in WLAN technology.
  • a control device 3 which processes received signals or their signal information or processes any signals or signal information to be transmitted and controls the transmission and reception operation of the transmitting and receiving device 2.
  • a device 4 for the optical output of a behavioral information determined by the control device 3, as well as a device 5 for the acoustic output of the behavioral information, either one or the other device 4, 5 or both may be present.
  • a navigation system 6 which communicates with the control device 3.
  • Fig. 1 shown emergency vehicle 7, z.
  • a medical vehicle known to have a blue light 8 and a horn 9, which are usually turned on, however, as shown in the introduction is not always be perceived.
  • a transmitting and receiving device 10 for wireless car-to-car communication primarily in the WLAN standard, but in any case compatible with the transmitting and receiving device 2 of a motor vehicle 1.
  • a control device 11 the transmitter and receiving operation controls and corresponding signal information processed or evaluated and analyzed, as well as a driver assistance system 12, which is as well as in the driver assistance system 6 is preferably a navigation system that works on a GPS basis is. Alternatively, it may also be another driver assistance system, as long as it allows the determination of position or lane data with sufficiently high resolution.
  • a control center 13 which coordinates the deployment of the emergency vehicle 7.
  • a signal to the emergency vehicle 7 is transmitted, which is received via the transmitting and receiving device 10 and which serves as a turn-on for the navigation system 12 of the emergency vehicle 7. This is turned on automatically.
  • the signal given by the control station 13 furthermore contains precise information about the destination, so that automatic programming of the navigation system 12 takes place via the control station signal. The driver of the emergency vehicle 7 therefore does not have to program independently.
  • a driving route is now automatically determined, thus corresponding routes or route data, which are also known to the control device 11 and transmitted together with corresponding actual position data, which are determined continuously via the navigation system 12, via the transmitting and receiving device 10 can.
  • the transmitted signal thus contains the signal information generally indicating the presence of an emergency vehicle in the transmission area, as well as signal information about the actual position of the emergency vehicle and the intended route, as well as possibly on the intended lane that wants to take the vehicle, if this information, for example via the Navigation system or another driver assistance system can be determined.
  • the transmitted signal is now received by the transmitting and receiving device 2 of the motor vehicle 1.
  • the control device 3 analyzes the signal information and recognizes, on the one hand, that an emergency vehicle is in the reception area.
  • the transmitted signal of the emergency vehicle 7 further includes direction information. From this results for the control device 3, whether the emergency vehicle accommodates, therefore, therefore, a reaction of all probability is not required, or if the emergency vehicle, for example, approaches from behind or - in connection with the position information - already in front of the own motor vehicle.
  • the own actual position is known from the navigation system 6, so that it can be easily determined how the relative position between own motor vehicle 1 and emergency vehicle 7 is.
  • the control device 3 now determines a behavioral information that is output to the driver either at the device 4 and / or the device 5.
  • this behavior information may only indicate that an emergency vehicle is nearby, but a response is not required. However, if a reaction is required, a behavioral recommendation may be issued, such that, for example, the vehicle should travel to the left or right of the lane to clear a lane, etc.
  • FIGS. 2 and 3 represent a typical situation, as it results every day in traffic, especially urban. Shown are nine vehicles 1a - 1i, as well as an emergency vehicle 7. In the example shown, it is assumed that the vehicles 1a - 1g each have a combined transmitting and receiving device 2, therefore, as the motor vehicle 1 according to the invention are equipped.
  • the planned route to the destination provides at the intersection K from the lane 14 to the lane 15, that is to turn left. This information was determined by the navigation system 12 of the emergency vehicle 7.
  • the emergency vehicle 7 continuously transmits its signal containing signal information about the driving route, the direction of travel and the actual position.
  • this signal information is received by all vehicles 1a-1g via the integrated transmitting and receiving device and analyzed and processed correspondingly via the respective control device.
  • the vehicles 1 a, 1 b are already dodged to the right (vehicle 1 a) and left (vehicle 1b) vehicle edge to free a tram. This was due to a behavioral information that the respective control device 3 had determined as a function of the signal information of the emergency vehicle 7 and the corresponding position information of the own motor vehicle in order to clear the tram quickly and without hindrance. In a similar way, already react the driver of the two vehicles 1 c and 1 d.
  • the driver of the car 1c was optically displayed via, for example, the device 4 (display) the information that he should drive to the right to the lane to make room for the emergency vehicle 7, the driver of the vehicle 1d receives the information to avoid the left.
  • the tramline is formed or expanded, so that the emergency vehicle 7 can continue to decelerate continuously and without too much delay in its speed.
  • the vehicle 1e which wants to continue driving on the lane 14 straight ahead, is located approximately outside the driving route, but the driver is also issued a behavioral information, after which he wants to avoid the right lane edge. However, directly on the route of the emergency vehicle 7 are still the vehicles 1f and 1g. The vehicle 1f wants to drive straight while the vehicle 1g has already turned off.
  • the control device 3 of the vehicle 1f Due to the signal of the emergency vehicle 7 (the corresponding transmitting and receiving activities are indicated by the curved lines on each vehicle) is now taking into account the actual situation or the corresponding position data of the own motor vehicle determined by the control device 3 of the vehicle 1f, that it would be appropriate to drive straight ahead in response to the route information L and to evade something to the right, thus making a quasi lane change from the left lane to the right lane , After the individual vehicles 1a - 1g continuously transmit corresponding signals with signal information, in particular regarding their own actual position as well as optionally the output behavior information, the control device 3 is known that the vehicle has issued 1e as behavioral information, to avoid the right lane edge. The actual position continuously transmitted from this vehicle, which is received by the vehicle 1f, indicates that the vehicle 1e is going to the right. As a result, the behavioral information "straight ahead, right out" can be readily output.
  • the vehicle 1e is already bent on the roadway 15. With him, it is sufficient, especially after no other vehicle is in the vicinity, only to drive to the right lane edge, a corresponding behavior information is determined by the control device 3 of this vehicle 1g and output.

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  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Description

Die Erfindung betrifft ein Kraftfahrzeug umfassend wenigstens eine Einrichtung zur Ausgabe akustischer und/oder optischer Informationen sowie eine zugeordnete Steuerungseinrichtung, die die auszugebende Information bestimmt und die Ausgabe steuert.The invention relates to a motor vehicle comprising at least one device for outputting acoustic and / or optical information and an associated control device which determines the information to be output and controls the output.

Bekanntlich besitzen Einsatzfahrzeuge beispielsweise der Polizei, der Feuerwehr, von Sanitätsdiensten oder aber städtischer Betriebe, die insbesondere in Notfällen schnellstmöglich an den Einsatzort gelangen müssen, und für sich infolgedessen Vorfahrt reklamieren können, ein auf dem Dach angebrachtes Blaulicht sowie ein Signalhorn, über welche Einrichtungen umstehende Verkehrsteilnehmer von dem herannahenden Einsatzfahrzeug informiert werden und die Fahrer dieser Fahrzeuge aufgefordert sind, das Einsatzfahrzeug möglichst behinderungsfrei passieren zu lassen. Häufig jedoch wird das Blaulicht bzw. das Signalhorn von den Kraftfahrern nicht frühzeitig genug oder überhaupt nicht wahrgenommen, insbesondere, wenn im Fahrzeug beispielsweise Musik gehört wird oder sich der Fahrer mit anderen im Fahrzeug befindlichen Personen unterhält. Dies kann dazu führen, dass das Einsatzfahrzeug gezwungen ist, stark zu bremsen, auszuweichen oder sich eine andere Fahrtroute zu suchen, da das Kraftfahrzeug, das das herannahende Einsatzfahrzeug nicht wahrgenommen hat, die Fahrgasse nicht freimacht, mithin also den Weg blockiert. Ein weiteres Problem besteht darin, dass manche Kraftfahrer bei Erkennen der Situation, dass sich ein Einsatzfahrzeug nähert, häufig überfordert sind und nicht wissen, wie sie zu reagieren haben, und insbesondere, ob sie überhaupt zu reagieren haben. Denn ein Einsatzfahrzeug, das in entgegengesetzter Richtung fährt, ist üblicherweise für den Fahrer unbeachtlich, er muss seine Fahrweise also nicht ändern. Gleichwohl ist häufig die Erfassung der Situation insbesondere allein über das akustische Signal des Einsatzfahrzeugs für den Fahrer nicht ohne weiteres möglich.As is well known, emergency vehicles such as the police, fire brigade, medical services or municipal enterprises, which need to arrive at the scene as quickly as possible in emergencies, and can claim their right of way as a result, a blue light mounted on the roof and a bugle over which facilities are located Road users are informed of the approaching emergency vehicle and the drivers of these vehicles are required to pass the emergency vehicle as possible without hindrance. Frequently, however, the blue light or the horn is not early enough or not perceived by the drivers, especially if in the vehicle, for example, music is heard or the driver converses with other people in the vehicle. This may result in the emergency vehicle being forced to brake hard, evade, or seek another route because the motor vehicle that has not perceived the approaching emergency vehicle is not clearing the lane, thus blocking the path. Another problem is that when recognizing the situation that an emergency vehicle is approaching, some drivers are often overwhelmed and do not know how to respond and, in particular, whether they have anything to react to. Because an emergency vehicle that drives in the opposite direction is usually irrelevant to the driver, he So he does not have to change his driving style. Nevertheless, it is often not possible to detect the situation, in particular solely via the acoustic signal of the emergency vehicle, for the driver.

DE 10 2004 027 953 offenbart ein Fahrerassistenzsystem zur Erkennung eines sich einem Fahrzeug nähernden Einsatzfahrzeugs. DE 10 2004 027 953 discloses a driver assistance system for detecting an emergency vehicle approaching a vehicle.

Der Erfindung liegt damit das Problem zugrunde, ein Kraftfahrzeug anzugeben, das dem Fahrer beim Erkennen der Situation in Abhängigkeit derselben unterstützen kann.The invention is therefore based on the problem to provide a motor vehicle that can assist the driver in detecting the situation depending on the same.

Zur Lösung dieses Problems ist bei einem Kraftfahrzeug der eingangs genannten Art erfindungsgemäß vorgesehen, dass es eine mit der Steuerungseinrichtung kommunizierende Empfangseinrichtung für ein von einem vorfahrtsberechtigten Einsatzfahrzeug gesendetes Signal enthaltend eine dieses Einsatzfahrzeug anzeigende und dessen Fahrtrichtung angebende Signalinformation aufweist, und dass die Steuerungseinrichtung zur Erzeugung und Ausgabe einer Verhaltensinformation für den Fahrer in Abhängigkeit der empfangenen Signalinformation ausgebildet ist.To solve this problem is provided according to the invention in a motor vehicle of the type mentioned that it has a communicating with the control device receiving device for a vorfahrtsberechtigten emergency vehicle signal transmitted containing this emergency vehicle indicative and indicating the direction signal information, and that the control device for generating and Output of a behavior information for the driver is formed as a function of the received signal information.

Das erfindungsgemäße Kraftfahrzeug nutzt die technisch gegebene Möglichkeit einer "Car-to-Car-Kommunikation", mithin also der drahtlosen Kommunikation von Fahrzeugen untereinander, was bevorzugt auf Basis des WLAN-Standards erfolgt. Über diese drahtlose Kommunikationsmöglichkeit können zwischen zwei Fahrzeugen Informationen ausgetauscht werden. Diesem Umstand macht sich nun das erfindungsgemäße Kraftfahrzeug zu Nutze. Es umfasst erfindungsgemäß eine Empfangseinrichtung, bevorzugt als kombinierte Sende- und -empfangseinrichtung ausgeführt, über die ein Signal von einem vorfahrtsberechtigten Einsatzfahrzeug, das kontinuierlich oder intermittierend gegeben werden kann, empfangen werden kann. Dieses Signal enthält mehrere Signalinformationen, eine erste, die generell das Vorhandensein eines Einsatzfahrzeugs im Empfangsbereich des eigenen Kraftfahrzeugs anzeigt, sowie eine zweite Signalinformation, die die Fahrtrichtung angibt. Anhand einer der Empfangseinrichtung nachgeschalteten Steuerungseinrichtung wird nun das Signal bzw. dessen Signalinformation ausgewertet und eine Verhaltensinformation für den Fahrer erzeugt, die unterschiedlicher Natur sein kann. Ergibt sich beispielsweise aus der Fahrtrichtungsinformation, dass das Einsatzfahrzeug sich auf der gegenüberliegenden Fahrbahn, beispielsweise durch einen Mittelstreifen getrennt (Autobahn, mehrspurige städtische Straße etc.) befindet, so kann dem Fahrer beispielsweise an einem Display, über das moderne Autos üblicherweise verfügen, eine optische Anzeige "Einsatzfahrzeug fährt auf gegenüberliegender Spur, keine Reaktion erforderlich" angezeigt werden oder über ein entsprechendes Infotainment-System über die Radiolautsprecher auch akustisch ausgegeben werden. Sofern sich aus der Fahrtrichtungsinformation ergibt, dass das Einsatzfahrzeug auf der eigenen Fahrspur ist, kann die Information je nach Relativposition des Einsatzfahrzeugs zum eigenen Fahrzeug unterschiedlich sein. Nähert sich das Einsatzfahrzeug von hinten, kann als Information beispielsweise "bitte Geschwindigkeit verringern" oder "bitte erhöhte Vorsicht, Einsatzfahrzeug nähert sich" optisch oder akustisch ausgegeben werden. Befindet sich das Einsatzfahrzeug vor dem eigentlichen Kraftfahrzeug, so könnte als optische/akustische Information beispielsweise "Einsatzfahrzeug in Fahrtrichtung vor eigenem Fahrzeug, keine Reaktion erforderlich" ausgegeben werden. Die Information zur Relativposition des Einsatzfahrzeugs zum eigenen Kraftfahrzeug kann beispielsweise aus zwei aufeinander folgend empfangenen Signalen des Einsatzfahrzeugs, über die die Entfernung bestimmt werden kann, ermittelt werden.The motor vehicle according to the invention uses the technically given possibility of "car-to-car communication", that is to say the wireless communication of vehicles with one another, which is preferably carried out on the basis of the WLAN standard. About this wireless communication option information can be exchanged between two vehicles. This circumstance is now making use of the motor vehicle according to the invention. According to the invention, it comprises a receiving device, preferably embodied as a combined transmitting and receiving device, via which a signal can be received from a pre-authorized emergency vehicle, which can be given continuously or intermittently. This signal contains a plurality of signal information, a first, which generally indicates the presence of an emergency vehicle in the reception area of the own motor vehicle, and a second signal information, which indicates the direction of travel. On the basis of a control device connected downstream of the receiving device, the signal or its signal information is now evaluated and behavioral information for the driver that may be of different nature is generated. For example, the heading information indicates that the emergency vehicle is on the opposite lane, for example, separated by a median strip (highway, multi-lane urban road, etc.), the driver can, for example, on a display that modern cars usually have a visual indication "emergency vehicle drives on opposite lane, no reaction required "or be acoustically output via a corresponding infotainment system via the radio loudspeakers. If it emerges from the direction information that the emergency vehicle is in its own lane, the information can be different depending on the relative position of the emergency vehicle to its own vehicle. Approaches the emergency vehicle from behind, as information, for example, "please reduce speed" or "please increased caution, emergency vehicle is approaching" issued visually or acoustically. If the emergency vehicle is located in front of the actual motor vehicle, it would be possible to output as optical / acoustic information, for example "emergency vehicle in the direction of travel in front of the vehicle, no reaction required". The information on the relative position of the emergency vehicle to its own motor vehicle can be determined, for example, from two consecutively received signals of the emergency vehicle, via which the distance can be determined.

In jedem Fall erhält der Fahrer eine von ihm in jedem Fall erfassbare Information über das Vorhandensein eines Einsatzfahrzeugs in seiner näheren Umgebung, wie auch eine Information, die ihm das weitere, von ihm geforderte bzw. ihm empfohlene Verhalten beschreibt. Das erfindungsgemäße System arbeitet bereits bei einem geringen Ausstattungsgrad von Fahrzeugen mit entsprechenden Sende-/Empfangseinrichtungen mit zugeordneter Steuerungseinrichtung zweckmäßig, da bereits die automatische Leitung nur weniger Fahrzeuge insbesondere im städtischen Bereich vorteilhaft ist, etwaige Behinderungen abzubauen. Ein weiterer Umstand ist, dass viele andere Verkehrsteilnehmer, die nicht über ein erfindungsgemäßes System verfügen, sich automatisch am Vorder- oder Hintermann orientieren. Ist dieser mit einem erfindungsgemäßen System ausgestattet, reagiert er zweckmäßig und angemessen, so dass durch die "Nachahmung" seitens anderer Verkehrsteilnehmer der positive Effekt des Systems potenziert werden kann.In any case, the driver receives an information which he can in any case record about the presence of an emergency vehicle in his immediate vicinity, as well as information which describes the further behavior required or recommended by him. The system according to the invention works expediently even with a low equipment level of vehicles with corresponding transmitting / receiving devices with associated control device, since even the automatic transmission of only a few vehicles, in particular in the urban area, is advantageous in reducing any impediments. Another circumstance is that many other road users who do not have a system according to the invention, are automatically oriented to the front or rear man. If this is equipped with a system according to the invention, it reacts expediently and appropriately so that the positive effect of the system can be increased by the "imitation" of other road users.

Eine besonders vorteilhafte Weiterbildung der Erfindung sieht vor, dass die Verhaltensinformation eine Information über die unmittelbar zu wählende Fahrstrecke, insbesondere zur Bildung einer Fahrgasse für das Einsatzfahrzeug enthält. Über diese Information wird der Fahrer von der selbst zu treffenden, häufig schwierig zu findenden Entscheidung, in welche Richtung man ausweicht, um eine Fahrgasse zu bilden und das Einsatzfahrzeug passieren zu lassen, befreit. Denn erfindungsgemäß erzeugt die Steuerungseinrichtung gestützt auf die ihr vorliegenden Informationen eine Verhaltensempfehlung, die angibt, in welche Richtung der Kraftfahrer auszuweichen hat, beispielsweise nach rechts oder links, je nachdem, wo er sich befindet, um die Fahrgasse freizumachen, oder aber im Kreuzungsbereich, wo ihm möglicherweise angewiesen wird, geradeaus weiterzufahren, sofern die Situation dergestalt ist, dass ein Abbiegen des Einsatzfahrzeugs wahrscheinlich ist. Insbesondere zweckmäßig ist in diesem Zusammenhang, wenn die Signalinformation auch eine Information über die zukünftige Fahrroute des Einsatzfahrzeugs enthält, wobei die Steuerungseinrichtung zur Erzeugung der Verhaltensinformation unter Berücksichtigung dieser Information ausgebildet ist. Diese Fahrrouteinformation des Einsatzfahrzeugs ist quasi eine vorausschauende, zukünftige Streckeninformation über die vom Einsatzfahrzeug zum Zielort gewählte Route, wobei diese Information z. B. aus einem einsatzfahrzeugseitigen Navigationssystem stammt, in dem der Zielort, wo also das Einsatzfahrzeug hinfährt, definiert ist. Ist nun seitens der Steuerungseinrichtung bekannt, in welche Richtung das Einsatzfahrzeug zu fahren wünscht, kann die Verhaltensempfehlung hinsichtlich eines Ausweichens oder dergleichen noch fundierter erzeugt werden.A particularly advantageous development of the invention provides that the behavior information contains information about the route to be selected directly, in particular for the formation of a driving lane for the emergency vehicle. From this information, the driver is freed from the self-made, often difficult, decision to make in which direction to avoid a lane and pass the emergency vehicle. Because according to the invention, the controller generates based on the information available to her a behavioral recommendation that indicates in which direction the driver has to evade, for example, to the right or left, depending on where he is to clear the tram, or in the crossing area, where may be instructed to continue straight ahead, provided that the situation is such that turning of the emergency vehicle is likely. In this context, it is particularly expedient if the signal information also contains information about the future driving route of the emergency vehicle, wherein the control device is designed to generate the behavioral information in consideration of this information. This driving route information of the emergency vehicle is quasi a forward-looking, future route information about the route selected by the emergency vehicle to the destination, this information z. B. from an operational vehicle-side navigation system, in which the destination, ie where the emergency vehicle goes, is defined. If it is now known on the part of the control device in which direction the emergency vehicle wishes to drive, the behavior recommendation with regard to avoidance or the like can be generated in a more substantiated manner.

Vor allem bei mehrspurigen Fahrbahnen, beispielsweise Autobahnen, stehen letztlich mehrere Möglichkeiten zur Bildung einer Fahrgasse zur Verfügung. Enthält, wie ferner vorgesehen sein kann, die Signalinformation des Einsatzfahrzeugs auch eine Information über die gewünschte, zukünftig zu befahrende Fahrspur des Einsatzfahrzeugs, so kann die Steuerungseinrichtung auch diese Information berücksichtigen. Enthält die Signalinformation beispielsweise die Mitteilung, dass das Einsatzfahrzeug auf einer dreispurigen Autobahn die Mittelgasse befahren möchte oder befährt, kann die Steuerungseinrichtung die Erzeugung der Verhaltensinformation entsprechend vornehmen. Auch diese Informationen können beispielsweise aus einem Fahrerassistenzsystem des Einsatzfahrzeugs, beispielsweise einem Navigationssystem oder einen Fahrspurerfassungssystem (LDW-System (LDW = lane departure warning)), welches Systems die Fahrspur erfasst und über das ebenfalls ermittelt werden kann, welche Fahrspur vom Einsatzfahrzeug gerade befahren wird, erzeugt und an das eigene Kraftfahrzeug übertragen werden.Especially in multi-lane roads, such as highways, are ultimately several ways to form a lane available. Contains, as may also be provided, the signal information of the emergency vehicle also information about the desired future to be traveled lane of the emergency vehicle, the controller may also consider this information. For example, the signal information includes the message that the emergency vehicle is on a three lane highway If the center alley wants to drive or drives, the control device can carry out the generation of the behavioral information accordingly. This information, for example, from a driver assistance system of the emergency vehicle, such as a navigation system or lane departure warning system (LDW system) (LDW system) (lane departure warning system), which system detects the lane and can also be determined over which lane is being used by the emergency vehicle , generated and transmitted to the own motor vehicle.

Besonders vorteilhaft ist die Steuerungseinrichtung mit einem fahrzeugseitig integrierten Fahrerassistenzsystem, insbesondere einem Navigationssystem kommunizierend verbunden und zur Ermittlung der Verhaltensinformation in Abhängigkeit der von dem Fahrerassistenzsystem, insbesondere dem Navigationssystem bestimmten Positions- und/oder Fahrspurdaten des eigenen Fahrzeugs ausgebildet. Gemäß dieser Erfindungsausgestaltung liegen also auch im eigenen Kraftfahrzeug über ein geeignetes Assistenzsystem erfasste Positions- und/oder Fahrspurdaten vor, die dann nicht erst beispielsweise über Signallaufzeiten zwischen zwei oder mehreren aufeinander folgend aufgenommenen Signalen des Einsatzfahrzeugs zur Richtungs- oder Geschwindigkeitsbestimmung ermittelt werden müssen. Als Fahrerassistenzsystem kann jedes System verwendet werden, das entsprechende Daten liefert, wie beispielsweise ein integriertes Navigationssystem oder ein Spurerkennungssystem (LDW-System). In jedem Fall liegen auf diese Weise hinreichend detaillierte Informationen über die Position/Fahrspur des Einsatzfahrzeugs wie die Position/Fahrspur des eigenen Fahrzeugs vor, die eine genaue Erfassung der Situation, eine Analyse der Situation wie auch eine fundierte Erzeugung der Verhaltensinformation seitens der Steuerungseinrichtung zulassen. Bevorzugt werden hier die Daten auf Basis eines DGP-Systems (DGP = differential global positioning) ermittelt, da dies eine sehr hohe Ortsauflösung und damit eine extrem genaue Datenbestimmung zulässt.Particularly advantageously, the control device is communicatively connected to a driver assistance system integrated on the vehicle side, in particular a navigation system, and designed to determine the behavioral information as a function of the position and / or lane data of the own vehicle determined by the driver assistance system, in particular the navigation system. According to this embodiment of the invention, position and / or lane data acquired in a separate motor vehicle via a suitable assistance system are then not required to be determined, for example, via signal propagation times between two or more successively recorded signals of the emergency vehicle for direction or velocity determination. As a driver assistance system, any system can be used that provides appropriate data, such as an integrated navigation system or a lane detection system (LDW system). In any case, sufficiently detailed information about the position / lane of the emergency vehicle, such as the position / lane of the own vehicle, is available in this way, which permits a precise detection of the situation, an analysis of the situation as well as a well-founded generation of the behavioral information by the control device. Preferably, the data are determined based on a DGP system (DGP = differential global positioning), since this allows a very high spatial resolution and thus extremely accurate data determination.

Eine zweckmäßige Weiterbildung der Erfindung sieht vor, dass über die Empfangseinrichtung auch von anderen Fahrzeugen gesendete Signale enthaltend Signalinformationen über oder betreffend das jeweilige Fahrzeug empfangbar sind, wobei die Steuerungseinrichtung zur Erzeugung der Verhaltensinformation auch in Abhängigkeit dieser Signalinformationen ausgebildet ist. Gemäß dieser Erfindungsausgestaltung kommunizieren also mehrere entsprechend ausgerüstete Fahrzeuge untereinander und tauschen Daten aus, sie gleichen also die entsprechenden Informationen untereinander ab und können aufeinander reagieren. Ergibt sich also beispielsweise, dass mit einer entsprechenden Sende-/Empfangseinrichtung ausgerüstete andere Fahrzeuge, die hinter dem eigenen Fahrzeug fahren und relativ gesehen näher zum herannahenden Einsatzfahrzeug stehen, als Verhaltensinformation ermittelt haben, dass der Fahrer jeweils zweckmäßigerweise nach links ausweicht, ist diese Information auch für das eigene Kraftfahrzeug von Nutzen, als ein entsprechender Abgleich erfolgen kann und die Verhaltensempfehlung ebenfalls ein Ausweichen nach links angibt. Im Kreuzungsbereich kann sich die Situation wieder etwas anders darstellen, hier kann, je nach der eigenen Fahrzeugposition, über den Abgleich erkannt werden, dass beispielsweise zwei unmittelbar hinter dem eigenen Fahrzeug fahrende Fahrzeuge nach links ausgewichen sind, mithin also möglicherweise der Kreuzungsbereich bereits hinreichend belegt ist, so dass es bei einem Ausscheren nach links durch das eigene Kraftfahrzeug zu einer Blockade kommen könnte. Die Steuerungseinrichtung kann dies erkennen und dann eine entsprechend anders gestaltete Verhaltensinformation bedingt durch den Abgleich ausgeben.An expedient development of the invention provides that signals transmitted via the receiving device and also from other vehicles containing signal information about or relating to the respective vehicle receivable are, wherein the control device is designed to generate the behavior information in response to this signal information. Thus, according to this embodiment of the invention, a plurality of vehicles equipped with the same suit communicate with one another and exchange data, that is, they balance the corresponding information with one another and can react with one another. If, for example, it results that other vehicles equipped with a corresponding transceiver device, which drive behind their own vehicle and are relatively closer to the approaching emergency vehicle, have determined as behavioral information that the driver deliberately escapes to the left, this information is also correct for the own motor vehicle of benefit, as an appropriate adjustment can be made and the behavior recommendation also indicates a dodge to the left. In the intersection area, the situation may be slightly different again, here, depending on the vehicle's own position, it can be recognized via the comparison that, for example, two vehicles traveling directly behind the own vehicle have moved to the left, and thus possibly the intersection area has already been adequately occupied so that it could come to a blockage in a left to the left by your own motor vehicle. The control device can recognize this and then output a correspondingly differently designed behavioral information due to the adjustment.

Weiterhin betrifft die Erfindung ein Verfahren zur Leitung eines Kraftfahrzeugs bei Annäherung eines vorfahrtsberechtigten Einsatzfahrzeugs. Dieses Verfahren zeichnet sich dadurch aus, dass das Einsatzfahrzeug kontinuierlich oder intermittierend ein Signal enthaltend eine Signalinformation, die das Einsatzfahrzeug selbst und dessen Fahrtrichtung anzeigt, über eine Sendeeinrichtung sendet, welches Signal von einem im Empfangsbereich befindlichen Kraftfahrzeug über eine Empfangseinrichtung empfangen und von einer zugeordneten Steuerungseinrichtung zur Erzeugung und Ausgabe einer Verhaltensinformation an den Fahrer in Abhängigkeit der Signalinformation verarbeitet wird. Die vorstehenden Ausführungen zu dem erfindungsgemäßen Kraftfahrzeug, das zur Durchführung des erfindungsgemäßen Verfahrens geeignet ist, gelten auch zur Beschreibung des erfindungsgemäßen Verfahrens gleichermaßen.Furthermore, the invention relates to a method for the guidance of a motor vehicle when approaching a right of way authorized emergency vehicle. This method is characterized in that the emergency vehicle continuously or intermittently sends a signal containing signal information indicating the emergency vehicle itself and its direction of travel via a transmitting device, which receive signal from a motor vehicle located in the receiving area via a receiving device and an associated control device is processed to generate and output a behavior information to the driver in response to the signal information. The above statements on the motor vehicle according to the invention, which is suitable for carrying out the method according to the invention, also apply equally to the description of the method according to the invention.

Die Verhaltensinformation enthält bevorzugt eine Information über die unmittelbar zu wählende Fahrstrecke, insbesondere zur Bildung einer Fahrgasse für das Einsatzfahrzeug, gibt also an, in welche Richtung der Fahrer auszuweichen oder weiterzufahren, bzw. wie er sich generell zu verhalten und zu reagieren hat. Dabei kann die Signalinformation des Einsatzfahrzeugs auch eine Information über die zukünftige Fahrroute des Einsatzfahrzeugs enthalten, die von der Steuerungseinrichtung zur Erzeugung der Verhaltensinformation berücksichtigt wird, wie die Signalinformation auch eine Information über die gewünschte, zukünftig befahrene Fahrspur enthalten kann. Sämtliche Signalinformationen, die Positions- oder Fahrspurdaten betreffen, werden bevorzugt seitens eines entsprechenden Fahrerassistenzsystems des Einsatzfahrzeugs ermittelt und die Signalinformation dem gesendeten Signal aufgeprägt.The behavior information preferably contains information about the route to be selected directly, in particular for forming a driving lane for the emergency vehicle, thus indicating in which direction the driver should avoid or continue, or how he generally has to behave and react. In this case, the signal information of the emergency vehicle may also contain information about the future driving route of the emergency vehicle, which is taken into account by the control device for generating the behavioral information, as the signal information may also contain information about the desired, future driven lane. All signal information relating to position or lane data is preferably determined by a corresponding driver assistance system of the emergency vehicle and the signal information is impressed on the transmitted signal.

Die Steuerungseinrichtung selbst kommuniziert zweckmäßigerweise mit einem fahrzeugseitig integrierten Fahrerassistenzsystem, insbesondere einem Navigationssystem, und ermittelt die Verhaltensinformation in Abhängigkeit der von dem Fahrerassistenzsystem bestimmten Positions- und/oder Fahrspurdaten. Bevorzugt findet auch eine "car-to-car"-Kommunikation zu anderen Kraftfahrzeugen, die entsprechende kombinierte Sende- und Empfangseinrichtungen aufweisen, bevorzugt über WLAN-Kommunikationsmittel statt, so dass die Fahrzeuge untereinander entsprechende Daten austauschen können, die für die Erzeugung der Verhaltensinformation zweckmäßig sind. Die Reichweite der Sende- und Empfangseinrichtungen liegt insbesondere bei der bekannten WLAN-Technologie im Bereich zwischen 300 - 500 m, so dass eine hinreichend frühzeitige, jedoch nicht allzu frühe Warnmöglichkeit bzw. Informationserzeugung möglich ist. Als Kommunikationsmodus kann jedwede "car-to-car"-Kommunikation, beispielsweise ein Multi-Hop-Verfahren verwendet werden.The control device itself communicates expediently with a vehicle-integrated driver assistance system, in particular a navigation system, and determines the behavioral information as a function of the position and / or lane data determined by the driver assistance system. A car-to-car communication with other motor vehicles having corresponding combined transmitting and receiving devices preferably also takes place via WLAN communication means, so that the vehicles can exchange corresponding data with one another, which is expedient for generating the behavior information are. The range of the transmitting and receiving devices is in particular in the known WLAN technology in the range between 300 - 500 m, so that a sufficiently early, but not too early warning possibility or information generation is possible. As the communication mode, any car-to-car communication such as a multi-hop method may be used.

Eine zweckmäßige Weiterbildung der Erfindung sieht vor, dass das Einsatzfahrzeug mit einer zentralen Leitstelle kommuniziert, von der Informationen betreffend das vom Einsatzfahrzeug anzufahrende Ziel enthaltend Zielpositionsinformationen übertragen werden, in Abhängigkeit welcher ein im Einsatzfahrzeug integriertes Fahrerassistenzsystem, insbesondere ein Navigationssystem automatisch zugeschaltet wird. Der Fahrer des Einsatzfahrzeugs wird also davon entlastet, den Zielort beispielsweise in das Navigationssystem einzuprogrammieren. Vielmehr geschieht dies automatisch über eine entsprechende Kommunikation zwischen dem Fahrerassistenzsystem des Einsatzfahrzeugs und einer Leitstelle. Diese sendet bei Vorliegen eines Fahrbefehls automatisch ein entsprechendes Signal an das Einsatzfahrzeug, über welches das Fahrerassistenzsystem sofort eingeschaltet wird und automatisch zumindest hinsichtlich der Zielposition programmiert wird. Sodann werden von dem Fahrerassistenzsystem fortlaufend entsprechende Positions- oder Fahrspurdaten erfasst, die dann als Signalinformationen an die umgebenden Verkehrsteilnehmer, so diese mit einer entsprechenden Sende- und Empfangseinrichtung nebst Steuerungseinrichtung ausgestattet sind, übertragen werden können.An expedient development of the invention provides that the emergency vehicle communicates with a central control center, from which information concerning the target to be approached by the emergency vehicle containing target position information is transmitted, depending on which a driver assistance system integrated in the emergency vehicle, in particular a navigation system automatically switched on. The driver of the emergency vehicle is therefore relieved of programming the destination, for example, in the navigation system. Rather, this happens automatically via a corresponding communication between the driver assistance system of the emergency vehicle and a control center. In the presence of a travel command, the latter automatically sends a corresponding signal to the emergency vehicle via which the driver assistance system is immediately switched on and is automatically programmed, at least with regard to the target position. Then corresponding position or lane data are continuously recorded by the driver assistance system, which can then be transmitted as signal information to the surrounding road users, so they are equipped with a corresponding transmitting and receiving device together with control device.

Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus dem im folgenden beschriebenen Ausführungsbeispiel sowie anhand der Zeichnungen. Dabei zeigen:

Fig. 1
eine Prinzipdarstellung eines erfindungsgemäßen Kraftfahrzeugs sowie eines entsprechend ausgestatteten Einsatzfahrzeugs mit zugeordneter Leitstelle, und
Fig. 2 und 3
ein Beispiel für die erfindungsgemäße Verkehrsleitung.
Further advantages, features and details of the invention will become apparent from the embodiment described below and with reference to the drawings. Showing:
Fig. 1
a schematic diagram of a motor vehicle according to the invention and a suitably equipped emergency vehicle with associated control center, and
FIGS. 2 and 3
an example of the traffic line according to the invention.

Fig. 1 zeigt in Form einer Prinzipdarstellung ein erfindungsgemäßes Kraftfahrzeug 1, umfassend eine Sende- und Empfangseinrichtung 2, die zur drahtlosen Signalübertragung bzw. drahtlosen Signalempfang ausgebildet ist, insbesondere in WLAN-Technologie. Zugeordnet ist eine Steuerungseinrichtung 3, die empfangene Signale bzw. deren Signalinformationen verarbeitet bzw. etwaige auszusendende Signale bzw. Signalinformationen aufbereitet und den Sende- und Empfangsbetrieb der Sende- und Empfangseinrichtung 2 steuert. Der Steuerungseinrichtung 3 zugeordnet ist eine Einrichtung 4 zur optischen Ausgabe einer seitens der Steuerungseinrichtung 3 ermittelten Verhaltensinformation, wie auch eine Einrichtung 5 zur akustischen Ausgabe der Verhaltensinformation, wobei entweder die eine oder die andere Einrichtung 4, 5 oder aber beide vorhanden sein können. Zugeordnet ist ferner ein Navigationssystem 6, das mit der Steuerungseinrichtung 3 kommuniziert. Fig. 1 shows in the form of a schematic representation of an inventive motor vehicle 1, comprising a transmitting and receiving device 2, which is designed for wireless signal transmission or wireless signal reception, in particular in WLAN technology. Assigned is a control device 3 which processes received signals or their signal information or processes any signals or signal information to be transmitted and controls the transmission and reception operation of the transmitting and receiving device 2. Assigned to the control device 3 is a device 4 for the optical output of a behavioral information determined by the control device 3, as well as a device 5 for the acoustic output of the behavioral information, either one or the other device 4, 5 or both may be present. Also assigned is a navigation system 6, which communicates with the control device 3.

Das in Fig. 1 gezeigte Einsatzfahrzeug 7, z. B. ein Sanitätsfahrzeug, weist bekanntlich ein Blaulicht 8 sowie ein Signalhorn 9 auf, die üblicherweise eingeschaltet sind, jedoch wie einleitend dargestellt ist nicht immer wahrgenommen werden. Vorgesehen ist ferner eine Sende- und Empfangseinrichtung 10 zur drahtlosen car-to-car-Kommunikation, vornehmlich im WLAN-Standard, in jedem Fall aber kompatibel zur Sende- und Empfangseinrichtung 2 eines Kraftfahrzeugs 1. Zugeordnet ist ferner eine Steuerungseinrichtung 11, die den Sende- und Empfangsbetrieb steuert und entsprechende Signalinformationen aufbereitet bzw. auswertet und analysiert, wie auch ein Fahrerassistenzsystem 12, bei dem es sich wie auch bei dem Fahrerassistenzsystem 6 bevorzugt um ein Navigationssystem, das auf GPS-Basis arbeitet, handelt. Alternativ kann es sich aber auch um ein anderes Fahrerassistenzsystem handeln, solange es die Ermittlung von Positions- oder Fahrspurdaten mit hinreichend hoher Auflösung ermöglicht.This in Fig. 1 shown emergency vehicle 7, z. As a medical vehicle, known to have a blue light 8 and a horn 9, which are usually turned on, however, as shown in the introduction is not always be perceived. Also provided is a transmitting and receiving device 10 for wireless car-to-car communication, primarily in the WLAN standard, but in any case compatible with the transmitting and receiving device 2 of a motor vehicle 1. Also assigned is a control device 11, the transmitter and receiving operation controls and corresponding signal information processed or evaluated and analyzed, as well as a driver assistance system 12, which is as well as in the driver assistance system 6 is preferably a navigation system that works on a GPS basis is. Alternatively, it may also be another driver assistance system, as long as it allows the determination of position or lane data with sufficiently high resolution.

Vorgesehen ist weiterhin eine Leitstelle 13, die den Einsatz des Einsatzfahrzeugs 7 koordiniert. Über diese Leitstelle 13 wird beispielsweise zu Beginn eines Einsatzes ein Signal an das Einsatzfahrzeug 7 übertragen, das über die Sende- und Empfangseinrichtung 10 empfangen wird und das als Einschaltsignal für das Navigationssystem 12 des Einsatzfahrzeugs 7 dient. Dieses wird also automatisch eingeschalten. Das von der Leitstelle 13 gegebene Signal enthält des Weiteren eine genaue Information über die Zielort, so dass eine automatische Programmierung des Navigationssystems 12 über das Leitstellensignal erfolgt. Der Fahrer des Einsatzfahrzeugs 7 muss also nicht selbständig programmieren. Über das eingeschaltete Navigationssystem wird nun automatisch eine Fahrroute ermittelt, mithin also entsprechende Fahrtstreckenoder Routendaten, die auch der Steuerungseinrichtung 11 bekannt sind und zusammen mit entsprechenden Ist-Positionsdaten, die kontinuierlich über das Navigationssystem 12 ermittelt werden, über die Sende- und Empfangseinrichtung 10 ausgesendet werden können. Das gesendete Signal enthält also zum einen eine Signalinformation, die generell das Vorhandensein eines Einsatzfahrzeugs im Sendebereich anzeigt, wie auch eine Signalinformation über die Ist-Position des Einsatzfahrzeugs sowie die beabsichtigte Fahrroute, wie auch gegebenenfalls über die beabsichtigte Fahrspur, die das Fahrzeug nehmen möchte, sofern diese Information beispielsweise über das Navigationssystem oder ein anderes Fahrerassistenzsystem ermittelt werden kann.Also provided is a control center 13, which coordinates the deployment of the emergency vehicle 7. About this control center 13, for example, at the beginning of an insert, a signal to the emergency vehicle 7 is transmitted, which is received via the transmitting and receiving device 10 and which serves as a turn-on for the navigation system 12 of the emergency vehicle 7. This is turned on automatically. The signal given by the control station 13 furthermore contains precise information about the destination, so that automatic programming of the navigation system 12 takes place via the control station signal. The driver of the emergency vehicle 7 therefore does not have to program independently. Via the switched-on navigation system, a driving route is now automatically determined, thus corresponding routes or route data, which are also known to the control device 11 and transmitted together with corresponding actual position data, which are determined continuously via the navigation system 12, via the transmitting and receiving device 10 can. The transmitted signal thus contains the signal information generally indicating the presence of an emergency vehicle in the transmission area, as well as signal information about the actual position of the emergency vehicle and the intended route, as well as possibly on the intended lane that wants to take the vehicle, if this information, for example via the Navigation system or another driver assistance system can be determined.

Das gesendete Signal wird nun von der Sende- und Empfangseinrichtung 2 des Kraftfahrzeugs 1 empfangen. Die Steuerungseinrichtung 3 analysiert die Signalinformation und erkennt zum einen, dass ein Einsatzfahrzeug im Empfangsbereich ist. Das gesendete Signal des Einsatzfahrzeugs 7 enthält ferner eine Fahrtrichtungsinformation. Aus dieser ergibt sich für die Steuerungseinrichtung 3, ob das Einsatzfahrzeug entgegenkommt, mithin also eine Reaktion aller Voraussicht nach nicht erforderlich ist, oder ob sich das Einsatzfahrzeug beispielsweise von hinten nähert oder - in Verbindung mit der Positionsinformation - bereits vor dem eigenen Kraftfahrzeug befindet. Aus dem Navigationssystem 6 ist die eigene Ist-Position bekannt, so dass ohne weiteres ermittelt werden kann, wie die Relativposition zwischen eigenem Kraftfahrzeug 1 und Einsatzfahrzeug 7 ist. Anhand der vorliegenden Informationen ermittelt nun die Steuerungseinrichtung 3 eine Verhaltensinformation, die dem Fahrer entweder an der Einrichtung 4 und/oder der Einrichtung 5 ausgegeben wird. Diese Verhaltensinformation kann beispielsweise nur angeben, dass ein Einsatzfahrzeug in der Nähe ist, jedoch eine Reaktion nicht erforderlich ist. Ist jedoch eine Reaktion erforderlich, kann eine Verhaltensempfehlung ausgegeben werden, dergestalt, dass beispielsweise das Fahrzeug links oder rechts an den Fahrbahnrand fahren soll, um eine Fahrgasse freizumachen etc.The transmitted signal is now received by the transmitting and receiving device 2 of the motor vehicle 1. The control device 3 analyzes the signal information and recognizes, on the one hand, that an emergency vehicle is in the reception area. The transmitted signal of the emergency vehicle 7 further includes direction information. From this results for the control device 3, whether the emergency vehicle accommodates, therefore, therefore, a reaction of all probability is not required, or if the emergency vehicle, for example, approaches from behind or - in connection with the position information - already in front of the own motor vehicle. The own actual position is known from the navigation system 6, so that it can be easily determined how the relative position between own motor vehicle 1 and emergency vehicle 7 is. On the basis of the available information, the control device 3 now determines a behavioral information that is output to the driver either at the device 4 and / or the device 5. For example, this behavior information may only indicate that an emergency vehicle is nearby, but a response is not required. However, if a reaction is required, a behavioral recommendation may be issued, such that, for example, the vehicle should travel to the left or right of the lane to clear a lane, etc.

Die Figuren 2 und 3 stellen eine typische Situation, wie sie sich tagtäglich im Straßenverkehr, insbesondere städtisch, ergibt. Gezeigt sind neun Fahrzeuge 1a - 1i, sowie ein Einsatzfahrzeug 7. Im gezeigten Beispiel sei angenommen, dass die Fahrzeuge 1a - 1g jeweils eine kombinierte Sende- und Empfangseinrichtung 2 aufweisen, mithin also wie das erfindungsgemäße Kraftfahrzeug 1 ausgerüstet sind. Das Einsatzfahrzeug 7, dessen Fahrtrichtung durch den eingezeichneten Pfeil angegeben ist (Entsprechendes gilt für die anderen Fahrzeuge) befährt die Fahrbahn 14, die angenommenermaßen zweispurig ist. Wie durch die gestrichelte Linie L angegeben, sieht die geplante Fahrroute zum Zielort vor, an der Kreuzung K von der Fahrspur 14 auf die Fahrspur 15, also nach links abzubiegen. Diese Information wurde seitens des Navigationssystems 12 des Einsatzfahrzeugs 7 ermittelt. Das Einsatzfahrzeug 7 sendet kontinuierlich sein Signal enthaltend eine Signalinformation über die Fahrroute, über die Fahrrichtung sowie die Ist-Position. Diese Signalinformation wird im gezeigten Beispiel von allen Fahrzeugen 1a - 1g über die integrierte Sende- und Empfangseinrichtung empfangen und über die jeweilige Steuerungseinrichtung entsprechend analysiert und verarbeitet. Die Fahrzeuge 1 a, 1b sind bereits an den rechten (Fahrzeug 1 a) bzw. linken (Fahrzeug 1b) Fahrzeugrand ausgewichen, um eine Fahrgasse freizumachen. Dies geschah aufgrund einer Verhaltensinformation, die die jeweilige Steuerungseinrichtung 3 in Abhängigkeit der Signalinformation des Einsatzfahrzeugs 7 sowie der entsprechenden Positionsinformationen des eigenen Kraftfahrzeugs ermittelt hatte, um zügig und behinderungsfrei die Fahrgasse freizumachen. In entsprechender Weise reagieren bereits die Fahrer der beiden Fahrzeuge 1 c und 1 d. Der Fahrer des Wagens 1c erhielt über beispielsweise die Einrichtung 4 (Display) optisch angezeigt die Information, dass er nach rechts an den Fahrbahnrand fahren soll, um dem Einsatzfahrzeug 7 Platz zu machen, der Fahrer des Fahrzeugs 1d erhält die Information, nach links auszuweichen. So bildet sich bzw. erweitert sich die Fahrgasse, so dass das Einsatzfahrzeug 7 kontinuierlich und ohne allzu sehr in seiner Geschwindigkeit zu verzögern weiterfahren kann.The FIGS. 2 and 3 represent a typical situation, as it results every day in traffic, especially urban. Shown are nine vehicles 1a - 1i, as well as an emergency vehicle 7. In the example shown, it is assumed that the vehicles 1a - 1g each have a combined transmitting and receiving device 2, therefore, as the motor vehicle 1 according to the invention are equipped. The emergency vehicle 7, the direction of travel is indicated by the arrow (the same applies to the other Vehicles) travels the roadway 14, which is assumed to be two lanes. As indicated by the dashed line L, the planned route to the destination provides at the intersection K from the lane 14 to the lane 15, that is to turn left. This information was determined by the navigation system 12 of the emergency vehicle 7. The emergency vehicle 7 continuously transmits its signal containing signal information about the driving route, the direction of travel and the actual position. In the example shown, this signal information is received by all vehicles 1a-1g via the integrated transmitting and receiving device and analyzed and processed correspondingly via the respective control device. The vehicles 1 a, 1 b are already dodged to the right (vehicle 1 a) and left (vehicle 1b) vehicle edge to free a tram. This was due to a behavioral information that the respective control device 3 had determined as a function of the signal information of the emergency vehicle 7 and the corresponding position information of the own motor vehicle in order to clear the tram quickly and without hindrance. In a similar way, already react the driver of the two vehicles 1 c and 1 d. The driver of the car 1c was optically displayed via, for example, the device 4 (display) the information that he should drive to the right to the lane to make room for the emergency vehicle 7, the driver of the vehicle 1d receives the information to avoid the left. Thus, the tramline is formed or expanded, so that the emergency vehicle 7 can continue to decelerate continuously and without too much delay in its speed.

Das Fahrzeug 1e, das auf der Fahrspur 14 geradeaus weiterfahren möchte, befindet sich annähernd außerhalb der Fahrroute, dem Fahrer wird jedoch ebenfalls eine Verhaltensinformation ausgegeben, wonach er an den rechten Fahrbahnrand ausweichen möchte. Direkt auf der Route des Einsatzfahrzeugs 7 befinden sich jedoch noch die Fahrzeuge 1f und 1g. Das Fahrzeug 1f möchte geradeaus fahren, während das Fahrzeug 1g bereits abgebogen ist.The vehicle 1e, which wants to continue driving on the lane 14 straight ahead, is located approximately outside the driving route, but the driver is also issued a behavioral information, after which he wants to avoid the right lane edge. However, directly on the route of the emergency vehicle 7 are still the vehicles 1f and 1g. The vehicle 1f wants to drive straight while the vehicle 1g has already turned off.

Aufgrund des Signals des Einsatzfahrzeugs 7 (die entsprechenden Sendeund Empfangstätigkeiten sind jeweils durch die gebogenen Linien am jeweiligen Fahrzeug angegeben) wird nun unter Berücksichtigung der Ist-Situation bzw. der entsprechenden Positionsdaten des eigenen Kraftfahrzeugs von der Steuerungseinrichtung 3 des Fahrzeugs 1f ermittelt, dass es zweckmäßig wäre, in Abhängigkeit der Routeninformation L geradeaus zu fahren und etwas nach rechts auszuweichen, mithin also quasi einen Fahrspurwechsel von der linken Fahrspur auf die rechte Fahrspur vorzunehmen. Nachdem auch die einzelnen Fahrzeuge 1a - 1g kontinuierlich entsprechende Signale mit Signalinformationen, insbesondere betreffend die eigene Ist-Position wie auch gegebenenfalls die ausgegebene Verhaltensinformation aussenden, ist der Steuerungseinrichtung 3 bekannt, dass das Fahrzeug 1e als Verhaltensinformation ausgegeben hat, an den rechten Fahrbahnrand auszuweichen. Die kontinuierlich von diesem Fahrzeug übertragene Ist-Position, die vom Fahrzeug 1f empfangen wird, zeigt an, dass das Fahrzeug 1e nach rechts fährt. Infolgedessen kann ohne weiteres die Verhaltensinformation "geradeaus, nach rechts ausscheren" ausgegeben werden.Due to the signal of the emergency vehicle 7 (the corresponding transmitting and receiving activities are indicated by the curved lines on each vehicle) is now taking into account the actual situation or the corresponding position data of the own motor vehicle determined by the control device 3 of the vehicle 1f, that it would be appropriate to drive straight ahead in response to the route information L and to evade something to the right, thus making a quasi lane change from the left lane to the right lane , After the individual vehicles 1a - 1g continuously transmit corresponding signals with signal information, in particular regarding their own actual position as well as optionally the output behavior information, the control device 3 is known that the vehicle has issued 1e as behavioral information, to avoid the right lane edge. The actual position continuously transmitted from this vehicle, which is received by the vehicle 1f, indicates that the vehicle 1e is going to the right. As a result, the behavioral information "straight ahead, right out" can be readily output.

Das Fahrzeug 1e ist bereits auf die Fahrbahn 15 abgebogen. Bei ihm ist es ausreichend, insbesondere nachdem kein anderes Fahrzeug in der Nähe ist, lediglich an den rechten Fahrbahnrand zu fahren, eine entsprechende Verhaltensinformation wird von der Steuerungseinrichtung 3 dieses Fahrzeugs 1g ermittelt und ausgegeben.The vehicle 1e is already bent on the roadway 15. With him, it is sufficient, especially after no other vehicle is in the vicinity, only to drive to the right lane edge, a corresponding behavior information is determined by the control device 3 of this vehicle 1g and output.

Ersichtlich kann infolge der Kommunikation des Einsatzfahrzeugs 7 mit den einzelnen Fahrzeugen 1a - 1g sowie der Fahrzeuge 1a - 1g untereinander quasi automatisch und geleitet eine Fahrbahn geräumt bzw. eine Fahrgasse gebildet werden, ohne dass hierfür die Fahrer selbst zwingend und allein verantwortlich sind. Denn auf Basis der Signale bzw. der Signalinformationen sind die entsprechenden Steuerungseinrichtungen in der Lage, entsprechende Verhaltensinformationen auszugeben, mithin also den eigenen Fahrer zu leiten, so dass sich insgesamt eine automatisierte Verkehrsleitung in Abhängigkeit der gegebenen Ist-Situation erreichen lässt.Obviously, as a result of the communication of the emergency vehicle 7 with the individual vehicles 1a - 1g as well as the vehicles 1a - 1g quasi automatically and routed cleared a roadway or a driving lane are formed, without this, the driver himself mandatory and are solely responsible. Because on the basis of the signals or the signal information, the corresponding control devices are able to output appropriate behavioral information, thus to guide the driver, so that overall an automated traffic management can be achieved depending on the given actual situation.

Claims (12)

  1. A motor vehicle including at least one device for transmitting audio and/or visual items of information as well as an associated control device which determines the information to be transmitted and controls the transmission, in which case a receiving device (2) which communicates with the control device (3) is provided for receiving a signal transmitted by an emergency vehicle (7) having priority (right of way), said signal containing information indicating said emergency vehicle (7) and its direction of travel, and said control device (3) being designed to generate and transmit behaviour information to the driver as a function of the signal information received,
    characterized in that
    the signal information also includes information regarding the traffic-lane the emergency vehicle wants to use, and the control device (3) is designed to take this information into account for the purpose of generating the behaviour information.
  2. A motor vehicle according to Claim 1,
    characterized in that
    the behaviour information includes information regarding the action to be taken immediately, specifically for the purpose of clearing a way through the traffic for the emergency vehicle.
  3. A motor vehicle according to Claim 1 or 2,
    characterized in that
    the signal information also includes information regarding the intended travel route (L) of the emergency vehicle (7).
  4. A motor vehicle according to one of the preceding claims,
    characterized in that
    the control device (3) communicates with a driver-assistance system (6), specifically a navigation system, integrated into the vehicle and is designed to determine the behaviour information as a function of the position data and/or traffic-lane data of the vehicle (1, 1a - 1g) as established by the driver-assistance system (6), specifically the navigation system.
  5. A motor vehicle according to one of the preceding claims,
    characterized in that
    signals containing information transmitted by other vehicles (1, 1a - 1g) about or regarding the particular vehicle (1, 1a - 1g) can also be received via the receiving device (2), and in that the control device (3) is designed to generate behaviour information also as a function of this signal information.
  6. A motor vehicle according to one of the preceding claims,
    characterized in that
    the receiving device (2) is a combined transmitter and receiver.
  7. A method of directing a motor vehicle upon the approach of an emergency vehicle having priority (right of way), in which case the emergency vehicle continuously or intermittently transmits via a transmitting device a signal containing information which indicates the emergency vehicle itself and its direction of travel, said signal being received, via a receiving device, by a motor vehicle located within the reception range and being processed by an associated control device for the purpose of generating and transmitting behaviour information to the driver as a function of the signal information,
    characterized in that
    the signal information also includes information regarding the traffic-lane the emergency vehicle wants to use, and this is taken into account by the control device for the purpose of generating the behaviour information.
  8. A method according to Claim 7,
    characterized in that
    the behaviour information contains information regarding the action to be taken immediately, specifically for the purpose of clearing a way through the traffic for the emergency vehicle.
  9. A method according to Claim 7 or 8,
    characterized in that
    the signal information also includes information regarding the intended travel route of the emergency vehicle, and this is taken into account by the control device for the purpose of generating the behaviour information.
  10. A method according to Claims 7 to 9,
    characterized in that
    the control device communicates with a driver-assistance system, specifically a navigation system, integrated into the vehicle and determines the behaviour information as a function of the position data and/or traffic-lane data of the vehicle as established by the driver-assistance system, in particular the navigation system.
  11. A method according to one of Claims 7 to 10,
    characterized in that
    the motor vehicle also communicates, via the device taking the form of a combined transmitter and receiver, with other motor vehicles located within the transmission and reception range, and the control device generates the behaviour information also as a function of signals transmitted by the other vehicles containing signal information about or regarding the respective vehicle.
  12. A method according to one of Claims 7 to 11,
    characterized in that
    the emergency vehicle communicates with a control centre, from which information is transmitted regarding the emergency vehicle's destination including position information in respect of said destination, as a function of which a driver-assistance system, specifically a navigation system, integrated into the emergency vehicle is automatically switched on.
EP20070001105 2006-02-03 2007-01-19 Motor vehicle comprising at least one device for emitting acoustic and/or optical information and method for controlling a motor vehicle when approaching an emergency vehicle with right of way Active EP1816622B1 (en)

Applications Claiming Priority (1)

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DE200610005022 DE102006005022B3 (en) 2006-02-03 2006-02-03 Motor vehicle, has receiving device receiving signal that contains information about desired driving lane of emergency vehicle, and control device concerning lane information for providing characteristics information of emergency vehicle

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EP1816622A3 EP1816622A3 (en) 2008-06-04
EP1816622B1 true EP1816622B1 (en) 2010-08-25

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DE502007004828D1 (en) 2010-10-07
DE102006005022B3 (en) 2007-06-21
EP1816622A2 (en) 2007-08-08

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