EP2681092A1 - Safety device for motor vehicle and method for operating a motor vehicle - Google Patents
Safety device for motor vehicle and method for operating a motor vehicleInfo
- Publication number
- EP2681092A1 EP2681092A1 EP12707086.0A EP12707086A EP2681092A1 EP 2681092 A1 EP2681092 A1 EP 2681092A1 EP 12707086 A EP12707086 A EP 12707086A EP 2681092 A1 EP2681092 A1 EP 2681092A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- data
- driving
- driver
- vehicle
- safety device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
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- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims description 31
- 230000004927 fusion Effects 0.000 claims description 27
- 238000011156 evaluation Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000036629 mind Effects 0.000 claims 1
- 238000011161 development Methods 0.000 description 4
- 241000282941 Rangifer tarandus Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- 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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
- B60K2026/022—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics with tactile feedback from a controller, e.g. vibrations
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Definitions
- the present invention relates to a safety device for a motor vehicle with
- At least one sensor unit for detecting the
- an evaluation unit for data fusion of the environment data and an evaluation unit for the recognition of free spaces and objects, their position and movement, as well as
- At least one sensor unit for detecting the Blasham ⁇ object and outputting environmental condition data and an evaluation unit for data fusion of the data environment with the environmental condition data to determine a Reibwertindikation, as well as with
- the present invention relates to a method for operating a motor vehicle.
- EP 1 735 187 A1 discloses such a safety device and a method for increasing road safety.
- a supporting Fahrmanö ⁇ ver said preset by the driver at any time can be overridden during or after a driver caused by the steering angle an avoidance maneuver is given.
- the known method is determined on the basis of environment signals whether a critical driving situation or an impending collision is present ⁇ . The method is preferably used in emergency situations for evasive maneuvers.
- a driving safety coordinator for ensuring the operational safety predictive and situational least determines a permissible traveling corridor and the driver's selection is limited to the driving corridor by means of actively controllable Kom ⁇ components and keeps the motor vehicle by means of the actively controllable components in the driving corridor.
- the driver should be able to specify a driver specification, but this can be changed by the regulatory system depending on the system and the situation.
- An example of a highly automated system is the landing of an aircraft in inclement weather with the aid of a differential GPS system, a runway map and a height and speed measurement, where an "autopilot" translates the trajectory and flight dynamics into a target corridor Automated system would only warn the pilot if he leaves the predicted target corridor.
- the driving safety coordinator carries out an evaluation of the data fusion of the determined data with regard to the criticality of the driving situation and is set up to issue a warning to the driver and / or the environment.
- the area of the permissible travel corridor is spanned by spatially situational boundary lines as well as by physical boundaries within a predicted free-motion area. This measure takes into account the area required as well as the required physical surface within the free-riding area in order to determine at least one driving corridor.
- the driving safety coordinator is set up to control the actively activatable components in such a way that an ne reaction force on the accelerator pedal is generated or an intervention in the drive motor, an intervention in the drive train or a brake intervention is performed to keep the vehicle in the driving corridor.
- the actively controllable components which are also referred to as externally controllable components, are controlled such that the vehicle is kept active or influenced by the driver in the driving corridor.
- the driving safety coordinator is set up to control the actively activatable components in such a way that an additional steering torque and / or an additional steering angle or a wheel-specific braking intervention to generate a yawing moment is generated in order to keep the vehicle in the driving corridor.
- the driver can override the control of the actively controllable components that limits the travel corridor at any time.
- the Fahrsi- cherheitskoordinator is adapted to receive a haptic, acoustic and / or visual warning to the driver extracts ⁇ ben.
- the driving safety coordinator is configured to initiate an emergency braking ⁇ if the permitted driving corridors provide no alternative at high risk of collision.
- engagement of the Security Coordinator ranges from ei ⁇ ner alert the driver to an automated or au ⁇ tonom carried out maneuvers.
- the sensor unit for detecting the environmental conditions and for outputting environmental data consists of a radar, Lidar- or camera system or a combination of the aforementioned systems.
- the sensor unit more information in the detection of environmental conditions and when outputting environmental data transmitted via Car-to-X communication.
- the at least one sensor unit for detecting the Shipzu ⁇ object is formed by a rain sensor, a thermocouple and / or a camera system.
- the at least one sensor unit for detecting the vehicle state ⁇ consists of a wheel speed sensor, a Querbe- admirungssensor, a longitudinal acceleration sensor and / or a yaw rate sensor.
- the at least one sensor unit for detecting the driver ⁇ specifications is formed by a steering angle sensor, a pedal angle sensor for the brake pedal and / or the accelerator pedal and / or by an encoder of the direction indicator.
- All processing units are adapted to perform a fu ⁇ sion by merging and completing missing data, data cleansing.
- an admissible travel corridor is determined in a predictive and situational manner, taking into account the operational safety, and the motor vehicle is kept in the driving corridor by limiting the driver specification to the driving corridor by means of actively controllable components.
- Figure 1 is a schematic representation of a vehicle with an environment sensor for detecting objects in the environment of the vehicle.
- Fig. 2 is a schematic representation of a driver assistance ⁇ tenzsystems
- Fig. 3 is a block diagram of the invention
- Fig. 4a, b is a schematic representation of permissible driving corridors
- Fig. 5 is a graphic comparison of lateral acceleration and yaw moment of the motor vehicle
- steering wheel is representative of all conceivable human-machine interfaces, which the driver can operate in the sense of steering and controlling the motor vehicle, such as ⁇ switch input, a joystick or a touchpad and externally transmitted Stell Commands.
- FIG. 1 shows by way of example a four-wheeled, two-axle vehicle 1, which ver ⁇ adds an environment sensor 2, are detected with the objects 0 in the environment of the vehicle can, which are in particular other vehicles ⁇ force moving in the same or an adjacent lane sideways and / or in front of the vehicle 1.
- objects 0 but also static or near-static objects such as trees, pedestrians or lane boundaries come into question.
- An example becomes
- the environmental sensor system 2 is, for example, a LIDAR sensor (Light Detection and Ranging), which is known per se to a person skilled in the art. However, there are others as well
- Environment sensors such as radar sensors or optical camera systems used.
- the information about the environment can be determined by means of the so-called car-to-X communication. This is the transmission of
- the environment sensor 2 measures the distances d to the detected points of an object and the angle ⁇ between the connecting straight line to these points and the central longitudinal axis of the vehicle, as in FIG a point P of the object 0 veran ⁇ shows is.
- the fronts of the detected objects facing the vehicle 1 are composed of a plurality of detected points, to which the sensor signals are transmitted, which establishes correlations between points and the shape of an object and determines a reference point for the object 0.
- the center point of the object 0 or the center point of the detected points of the object can be selected as the reference point.
- Fig. 2 shows a schematic representation of a remplias ⁇ sistenzsystems whose components are preferably carried out with the exception of Senso ⁇ reindeer, actuators and other hardware and software modules that are executed within the vehicle 1 by means of a microprocessor.
- the object data is transmitted to a decision device 22 in the form of electronic signals within the driver assistance system shown schematically.
- a decision device 22 in the form of electronic signals within the driver assistance system shown schematically.
- an object ector trajectory is determined in block 23 on the basis of the information about the object 0.
- a movement trajectory T of the vehicle 1 is determined in block 24 on the basis of information about the driving dynamic state of the vehicle 1, which are determined with the aid of further vehicle sensors 25.
- half of the block 26 checks whether the motor vehicle 1 is on a collision course with one of the detected objects 0. If such a collision course is determined and the collision time is also determined in the decision means 22, that is the time period up to which it falls below mediated collision with the object 0, a predetermined value is received a trigger signal to a path presetting ⁇ device 27th
- the triggering signal causes first an outward path, ie a motion vector E, to be calculated within the path specification device.
- a starting point for the evasive maneuver is determined at which the evasive maneuver must be started in order to initiate the avoidance maneuver Object 0 just to dodge.
- steps are preferably repeated in time steps until there is no longer a danger of collision due to course changes of the object 0 or of the vehicle 1 or until the vehicle 1 reaches the starting point for an evasive maneuver. If this is the case, the parameters representing the avoidance path or these parameters are transmitted to a steering actuator control 28.
- Fig. 3 the schematic structure of the safety device according to the invention is shown.
- the idea is the networking of the various sensor units 2, 20, 30, 40.
- AI data fusion is the combination and completion of incomplete data sets for data cleansing. Since several incomplete in some records must be combined MITEI Nander to the to get a complete picture To ⁇ field.
- MITEI Nander MITEI Nander to the to get a complete picture To ⁇ field.
- data schema integration is also called data schema integration. Through this data fusion, it is possible to obtain information about the environment of the motor vehicle 1, which have a better quality ⁇ .
- At least one sensor unit 2 is used to detect the environmental conditions.
- this so-called environment sensor system 2 is formed from a radar, lidar or video camera system or from a combination of the systems mentioned.
- the information obtained with the aid of at least one of these sensor ⁇ unit 2 information is combined with map information, GPS data and information obtained by means of a car-to-X communication within an evaluation unit 4 for data fusion of the environment data in the sense of a data fusion , After the data fusion, an evaluation of the improved environment data for the detection of objects 0 takes place.
- the position and movement of the object 0 is transmitted to a driving safety coordinator 6.
- This Fahr Industriesordinator 6 determined due to physical driving limits including the
- Fig. 3 serves at least one white ⁇ direct sensor unit 20 of the detection of the environmental condition.
- This at least one sensor unit 20 for detecting the Um- Wide state is formed by a rain sensor, a Thermoele ⁇ ment and / or by a camera system.
- a data fusion is carried out in the evaluation unit 24 from the detected environmental condition data, and in step 25 a Reibwertindikation between tires and the road is determined from the adjusted environmental status data. This determination of the Reibwertindikation for example, based on the knowledge of the road condition.
- This determined friction coefficient indication is also forwarded to the driving safety coordinator 6.
- Another least one sensor unit 30 is for ⁇ he put a vehicle state.
- This at least one sen ⁇ sorritt 30 for vehicle condition detection is formed from a wheel speed sensor, a lateral acceleration sensor, a longitudinal acceleration sensor or a yaw rate sensor. A combination of the mentioned sensors is also possible.
- the vehicle condition detection sensor unit 30 is also called a vehicle condition observer.
- the vehicle state data are combined with the determined friction value indication in the sense of a data fusion. By this measure, the vehicle state is calculated in step 35 and output to the driving safety coordinator 6.
- At least one further Sen ⁇ sorrien 40 for detecting the driver instructions and for outputting driver input data.
- This at least one sensor unit 40 for detecting the driver specifications is formed by a steering angle sensor, a pedal angle sensor for the brake pedal and / or the accelerator pedal and / or by a giver of the direction indicator.
- the sender of the direction indicator ge is colloquially referred to as a turn signal.
- the information includes whether the driver wants to turn left or right.
- the assigned evaluation unit 44 is supplied with the newly determined vehicle state data and from these together with the driver service data a data fusion is performed. Since the data fusion effects a data cleansing by combining and completing incomplete data sets, a precise driver's target rate is calculated in step 45 and output to the driving safety coordinator 6.
- the driving safety coordinator 6 thus the position and movement of the object 0 and the determined Reibwertin ⁇ dication are transmitted. In addition, the driving safety coordinator 6 receives the vehicle condition and the driver's course. From these data, a permissible driving corridor K1, K2, K3, K4 to Kn is determined. To clarify the permissible driving corridors K1, K2, K3, FIG. 4a shows one's own vehicle 1 and the object 0 located in the direction of travel.
- the driving corridors K1, K3 shown in this example are determined situationally and predictively and are located within the predicted free traffic area on the left and right past the object 0.
- the corridor K2 designates an area in front of the object 0 without avoidance path when an emergency stop is sufficient to avoid a collision with the object 0.
- the Fahrsi ⁇ cherheitskoordinator 6 initiates an emergency braking, when the permissible traveling corridors Kl and K3, Kn provide no alternative at high collision ⁇ danger.
- the travel corridor K2 is provided as a braking distance.
- FIG. 4b another driving situation is exemplary Darge ⁇ represents.
- no object is 0. Rather, it is the predicted free ⁇ driving surface to a curve passage and the permissible corridor dor K4 is spanned ⁇ within the predicted free running surface.
- the present method and the present safety device is not exclu ⁇ Lich limited to emergency situations such as impending collisions, but usually harmless situations is used rather in order precisely to limit precisely these emergency situations to the minimum possible and the driver in his Support driving task.
- the driving safety coordinator 6 In order to keep the vehicle 1 in the permissible driving corridors Kl, K2, K3, K4 to Kn, it will be explained in more detail with reference to FIG. 3 how the driving safety coordinator 6 operates. As already mentioned, the position and movement of the object or objects 0 and the determined friction coefficient indication are transmitted to the driving safety coordinator 6. In addition, the driving safety coordinator 6 receives the vehicle condition and the driver's course. From these data, a permissible traveling corridor Kl, K2, K3, K4 to Kn determined and made a target course ⁇ calculation of the own vehicle.
- active components 9 are activated in such a way that the driver specification is limited to the available corridor K1, K2, K3, K4 to Kn.
- These actively controllable components 9 are located in the chassis, drive or in a
- Man-machine interface such as brake pedal Antriebsmo ⁇ gate, steering, transmission, dampers, stabilizer or direction indicator.
- the Fahrsolidskoordina ⁇ gate 6 controls the actively controllable components 9 such that a counterforce on the accelerator pedal is generated or an intervention in the drive motor, an intervention in the drive train or a braking intervention is performed to the vehicle in the driving corridor Kl, K2, K3 To keep K4 to Kn.
- the actively activatable components 9 are controlled such that an additional steering torque and / or an additional steering angle or a wheel-individual braking intervention for generating a yawing moment is generated.
- This control is also suitable to keep the vehicle in the driving corridor K1, K2, K3, K4 to Kn.
- any measure is overruled by the driver, so that the driver retains the power over his vehicle 1.
- the driver safety coordinator 6 evaluates the determined data with regard to the criticality of the driving situation and, if necessary, issues a warning to the driver and / or the surroundings.
- This environmental warning 8 can be made visually, acoustically or by means of a car-to-X communication. By means of car-to-X communication, the environmental warning 8 can be output both to the infrastructure and to other vehicles.
- the warning to the driver via a man-machine interface 7, also called Human Machine Interface, short HMI called.
- the warning to the driver can be haptic, audible or visual.
- all controllable components of the man-machine interface 7 are suitable, such as a counterforce on the accelerator pedal or a vibration of the steering wheel. Warning lights and audible warning tones are also suitable for issuing a warning to the driver.
- Fig. 5 shows the yaw moment over the longitudinal acceleration g.
- the drive corridors are always within the physical limit 10 and within the allowable range 11 to ⁇ tensioned.
- the physical limit 10 is also illustrated in Fig. 6: the friction forces F x, F y of the tire in the longitudinal and transverse directions ⁇ have a physical limit, the tire is no longer adheres on the on the roadway. The driving convincing does not have sufficient contact with the road and more, the driver can easily take control of the vehicle ver ⁇ lose.
- several permissible variants 11 are shown.
- Said evaluation units 4, 5, 24, 25, 34, 35, 44, 45 may be formed within a common off ⁇ evaluation unit also merely as software modules or Abiauf ⁇ steps of a method.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
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DE102011004879 | 2011-03-01 | ||
PCT/EP2012/053515 WO2012117057A1 (en) | 2011-03-01 | 2012-03-01 | Safety device for motor vehicle and method for operating a motor vehicle |
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EP2681092A1 true EP2681092A1 (en) | 2014-01-08 |
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EP12707086.0A Ceased EP2681092A1 (en) | 2011-03-01 | 2012-03-01 | Safety device for motor vehicle and method for operating a motor vehicle |
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US (1) | US8983706B2 (en) |
EP (1) | EP2681092A1 (en) |
DE (1) | DE102012203182A1 (en) |
WO (1) | WO2012117057A1 (en) |
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Also Published As
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WO2012117057A1 (en) | 2012-09-07 |
US8983706B2 (en) | 2015-03-17 |
US20140005875A1 (en) | 2014-01-02 |
DE102012203182A1 (en) | 2012-09-06 |
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