EP2877987B1 - Procédé et dispositif permettant d'éviter des collisions - Google Patents

Procédé et dispositif permettant d'éviter des collisions Download PDF

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Publication number
EP2877987B1
EP2877987B1 EP13727831.3A EP13727831A EP2877987B1 EP 2877987 B1 EP2877987 B1 EP 2877987B1 EP 13727831 A EP13727831 A EP 13727831A EP 2877987 B1 EP2877987 B1 EP 2877987B1
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EP
European Patent Office
Prior art keywords
vehicle
environmental
environment
collision
movement
Prior art date
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Revoked
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EP13727831.3A
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German (de)
English (en)
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EP2877987A1 (fr
Inventor
Reiner Katzwinkel
Claudia PRAUßE
Marc-Michael Meinecke
Stephan Max
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Volkswagen AG
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Volkswagen AG
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
    • E05C17/00—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith
    • E05C17/003—Power-actuated devices for limiting the opening of vehicle doors
    • E05C17/006—Power-actuated devices for limiting the opening of vehicle doors with means for detecting obstacles outside the doors
    • 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

Definitions

  • the invention relates to a method and a device for collision avoidance of movable vehicle components during a standstill of the vehicle or immediately after a standstill of the vehicle.
  • the invention relates to an apparatus and a method for preventing a collision of a door with objects and obstacles in the vicinity of the stalled vehicle.
  • a localization of the objects relative to the vehicle can be significantly improved. It is customary to determine, based on a large number of measurements, positions of objects in the surroundings of the vehicle and to record them in a so-called environment map. For this purpose, the environment of the vehicle is divided into areas or cells. Regions or cells of the environment map are assigned probability information, which is a measure of the fact that an object is located at a location in the vicinity of the vehicle, which corresponds to the corresponding area or cell of the environment map of the vehicle.
  • this also contains information about areas in the vicinity of the vehicle which can not be currently recorded by the measuring sensor (s) used to acquire the environment map.
  • the measuring sensor used to acquire the environment map.
  • obstacles that are located in a lateral distance to a driver or passenger door of a motor vehicle, do not detect in the parked, parked state.
  • a warning of such an obstacle is desirable.
  • the previously collected information about the environment is necessary and helpful. The same applies to automatically or from the inside openable tailgates and / or trunk lid, etc.
  • a method for determining a distance between a first vehicle and an object comprises a step of providing a transmission signal of the first vehicle at a first time at an interface, wherein the transmission signal comprises a signal sequence and an identification of the first vehicle. Furthermore, the method comprises a step of receiving a response signal from an object at a time via the interface. In addition, the method includes a step of determining a distance between the first vehicle and the object from the first and second times and a delay time, the delay time defining a time duration between receiving the transmit signal and transmitting the response signal through the object. In addition, information about the object of the first vehicle can be transmitted in the response signal.
  • the invention is therefore based on the technical object to provide an improved method and improved apparatus for collision avoidance.
  • the invention is based on the idea of validating the environment map after the vehicle has come to a standstill for a region in which there are areas of the environment map which are not detectable by those environmental sensors, which are referred to here as first environment sensors, which represent the original detection of the environment Environment map are used. For example, if a vehicle has ultrasonic sensors in the area of a front and a rear bumper, the contours of vehicles parked in adjacent parking boxes can be detected during the parking process by the ultrasonic measurement sensors in the front or rear bumper and displayed correctly in the environment map.
  • a device for a vehicle for collision avoidance in particular for collision avoidance of a vehicle door with an object of the environment during opening, which comprises: one or more first environment sensors whose measurement data provide information about a distance of objects in the surroundings of the vehicle, and an evaluation and fusion device, which determines an environment map of the vehicle on the basis of the measurement data of the one or more first environment sensors, on the basis of which a probability indication for an existence of an object in this single area can be derived for individual areas in the environment of the vehicle, as well as a prediction device, which is designed to determine and provide control and / or warning information for a collision-free predicted movement of the vehicle component, wherein the collision freedom of the predicted movement of the existence probability of an object in at least one excellent area, with at least one second environment sensor is coupled to the evaluation and fusion device, which is designed to detect after a standstill of the vehicle movement of an object relative to the vehicle at least in an area of the environment of the vehicle, which comprises the at least one excellent area and the evaluation - And
  • An identification of the environment map or of areas of the environment map as invalid represents such a change.
  • Such a device is capable of plausibility with the at least one second environment sensor the environment map for a large area and in case of a detected movement in the monitored area to provide information indicating that the environment card information is no longer reliable.
  • the control and warning information which can be used either for controlling, actively limiting a door opening or only for outputting a warning signal in conjunction with a recognized opening by a corresponding opening angle, can thus be adapted adequately to the current situation.
  • Far away the at least one excellent area is usually not in the current measuring range of the one or more first environment sensors. In particular, if this additional condition is fulfilled with respect to the at least one designated area, a plausibility check of the probability information for this at least one designated area with the first environment sensors is not possible.
  • a corresponding method for collision avoidance of components of a vehicle comprises the steps: acquiring environmental data by means of first environment sensors during vehicle operation, creating an environment map by measurement data fusion, based on which for individual areas in the environment of the vehicle in each case a probability indication for an existence of an object in Predicting a collision-free movement of the vehicle or a vehicle component based on the environment map, wherein the collision freedom of the predicted movement on the probability of existence of an object in at least one excellent area is dependent, and providing control and / or warning information for the predicated collision-free movement, wherein by means of at least one second environmental sensor is measured when the vehicle is stationary, whether in an area comprising the at least one excellent area, e is moved in object relative to the vehicle, and if so, the environment map in the one region is changed so that at least the probability derivable from the environment map for the at least one designated region is changed.
  • a vehicle component can be determined via the vehicle itself after a standstill or during standstill.
  • This method is particularly advantageous if, on the basis of the environment map, it is possible to derive a probability indication for at least one excellent area that is not in the current measuring range of the one or more surroundings sensors.
  • the first environment sensors are measurement sensors which operate according to an echo pulse measurement method.
  • these may be ultrasound sensors, which are installed, for example, in a front and / or a rear bumper of the vehicle and are used in a parking assistance system, for example for approach recognition to objects.
  • the at least one second environment sensor is preferably a Doppler radar sensor.
  • a frequency shift between the transmitted radar signal and the received reflected radar signal is evaluated to derive, using the Doppler law, a relative velocity associated with the frequency shift.
  • a relatively large measuring range can be reliably monitored for relative movements of objects in the environment.
  • detection of the surroundings by means of the at least one second surroundings sensor is carried out for a predetermined period of time after the vehicle has come to a standstill and is at a standstill, even if the ignition of the vehicle is stopped Vehicle is switched off.
  • this predetermined period of time which may preferably be a few minutes, for example up to 5 minutes or 15 minutes, the environment of the vehicle is monitored.
  • the measurement of the environment is adjusted by means of a second environmental sensor, if one or all vehicle components whose collision-free predicted movement is dependent on the likelihood of existence of an object in the at least one designated area or a further designated area excellent range not in the current measuring range of
  • one or more first environmental sensors lies in the area in which the at least one second environmental sensor detects movement of an object, is opened and closed again. In this case, it is assumed that the person has left the vehicle and a renewed exit process is not expected.
  • the at least one second surroundings sensor on the movable vehicle component for which a movement is predicted.
  • the at least one second environment sensor for example a Doppler radar sensor
  • the arrangement is such that it is preferably arranged in a region of the door which has the greatest possible distance from the pivot axis of the door.
  • a second environment sensor which is designed as a Doppler radar sensor, due to the proper movement of the vehicle component when opening, for example, the swung open door, detect a relative movement between this swung door and the stationary object located in the surrounding.
  • a Doppler radar initially only provides velocity information. However, it is also desirable to determine a distance information. It is therefore provided in a particularly preferred embodiment that, at least during the movement of the vehicle component for which a predicted collision-free movement has been determined, the reflected radar signal is evaluated only in evaluation time windows which are shorter than the transmission time window during which the radar signal is transmitted. The location and length of the evaluation time window relative to a start of the transmission time window, ie, at the beginning of the radar signal transmission, determines the range of distances in which an object can be located which has caused the reflection of the radar signal.
  • a transmission duration is longer than that time span, which requires a radar signal for the travel of the paths relevant for a collision warning. It is therefore crucial whether the onset of a reflection signal can be determined in an evaluation interval. Since very short distances are of interest, an evaluation time window is set as close as possible to a beginning of the transmission time window. An object freedom or an object existence can also be determined with a Doppler radar.
  • a frequency width of the radar signal emitted this is repeatedly transmitted in the form of a CW signal.
  • a sampling frequency of the reflected signal must be adjusted according to the sampling theorem so that a frequency shift due to the Doppler effect can be determined.
  • the radar transmission although carried out in repeated steps, is regarded as a CW transmission since a transmission duration is substantially greater than a period of the transmitted vibrations.
  • an amplitude of the reflected radar signal is evaluated to derive a distance therefrom.
  • this method is less accurate because the amplitude also includes properties of the object which influence a reflection strength.
  • Fig. 1 is schematically illustrated a vehicle 1 in an environment 2 in a parking lot.
  • the vehicle 1 is parked on a parking box 301, which is partially bounded at a front end 302 by a wall 3.
  • the wall 3 represents an object in the environment 2 of the vehicle 1.
  • Located next to the vehicle 1 at the time of parking is a neighboring vehicle A 4, which is parked in a neighboring parking box 303.
  • the vehicle 1 comprises a parking assistance system 10, which comprises first environmental sensors 11 which are arranged on a front bumper 12 and a rear bumper 13. At least some of the first environment sensors 11 are designed such that during the parking process they also detect objects, such as the neighboring vehicle A 4, when driving sideways.
  • the first environmental sensors 11 are preferably measuring sensors which operate according to a pulse-echo measuring method.
  • it may be ultrasonic sensors. These emit a short ultrasonic pulse and evaluate a time between the emission of the ultrasonic pulse and a reception of a reflected ultrasonic pulse. In this way, a distance to an object 3, 4 in the environment 2 of the vehicle 1 can be determined by the corresponding first environment sensor 11.
  • An environment map 30 can be created via a measurement data sensor fusion of many measurements. This is carried out by an evaluation and fusion device 22 of a control unit 20.
  • This control unit 20 additionally evaluates information about the intrinsic motion of the vehicle in order to be able to fuse the measurement data acquired at different times and at different positions in the surroundings of the vehicle assumed to be stationary.
  • FIG. 1 is shown schematically the environment map 30, which has detected the vehicle 1 during the parking process of the environment 2.
  • the detected wall 32 and the other vehicle A 33 are recognizable as contours.
  • a person skilled in the art knows from the prior art how an environment map can be derived on the basis of measurement data of first environment sensors 11, which work according to an impulse-echo measurement method. This is preferably subdivided into individual cells or regions, for which, based on the measurement data, probability information for the individual regions or cells is derived, which indicate whether an object is located in the region of the environment to which the cell or the region of the environment map is assigned or the corresponding area is free of objects. As a rule, only the outer contours of the objects 3, 4 in the environment 2 of the vehicle 1 are of interest for collision avoidance.
  • a collision avoidance device 40 which is at least partially implemented by means of the control device 20, additionally comprises a prediction device 24, which can predict movement based on data from the environment map 30 for a vehicle component, for example a front vehicle door 61 or a rear vehicle door 62.
  • the prediction device 24 determines which movements of the vehicle components, here the doors 61, 62, are possible without colliding with one of the objects 3, 4 in the environment 2 of the vehicle 1.
  • the prediction device 24 determines, for example, those region of the environment or the associated environment map through which the vehicle component moves during a movement. Checked on the basis of the probability data of the environment map, whether a collision with an object is to be expected or not.
  • FIG. 1 For example, the vehicle components, the front door 61, and the rear door 62 are each shown in an open position. About circular arcs 63, 64, the corresponding pivot radii are indicated. It can be seen that immediately after parking the vehicle 1 in the parking box 301, both the front vehicle door 61 and the rear vehicle door 62 can be opened without a risk of collision with the neighboring vehicle A 4. Remains the driver or a passenger after the immediate parking still for a certain time in the vehicle, so the environment 2 of the vehicle 1 may change. For example, the neighboring vehicle A 4 can park out of the neighboring parking box 303 and park another neighboring vehicle B 5 in the same neighboring parking box 303, but come to a standstill in another position.
  • the further neighboring vehicle B 5 has different dimensions and thus a different outer contour 7 than the neighboring vehicle A 4 originally located in the neighboring parking box 303. It can be clearly seen that swiveling up the doors 61, 62 would now lead to a collision with the further neighboring vehicle B 5.
  • the collision avoidance device which is partially implemented in the controller 20, should help to avoid these situations.
  • at least one second surroundings sensor in the illustrated embodiment, two further second environment sensors 51, 52 are provided, which are arranged on the vehicle doors 61, 62 as close as possible to those locations which define the maximum pivot radius.
  • the second environment sensors 51, 52 are designed as Doppler radar sensors. These are able to monitor in each case a larger area 110 laterally adjacent to the vehicle 1 with respect to objects moving relative to the vehicle.
  • This area 110 comprises at least one excellent area 162 which, on the one hand, is essential for a collision-free movement possibility of the corresponding vehicle component, eg a vehicle. B.
  • the front door 61 or rear door 62 and on the other hand is not in the measuring range of the first environment sensors 11 at a standstill of the vehicle 1.
  • two such designated regions 161, 162 in FIG FIG. 1 indicated.
  • the second environment sensors 51, 52 In the closed state of the doors 61, 62, the second environment sensors 51, 52 simultaneously monitor, alternately, the area 110, which includes at least excellent area 161, 162 necessary for the collision-free movement of the vehicle component, the second environment sensor 51, 52 assigned.
  • a second environment sensor 51, 52 can take over the area 110 for a number of movable vehicle components with regard to possible movements which make an environment map implausible.
  • the second environment sensors 51, 52 If, after parking and stopping the vehicle 1 by means of the second environment sensors 51, 52 or only one of these second environment sensors 51, 52 detects a relative movement of an object, for example here of the parked neighboring vehicle A 4, the information in the environment map 30, the objects laterally next to the vehicle 1, 31, marked as invalid.
  • the prediction device 24 immediately after parking in the parking box 301 for opening the front vehicle door 61 and the rear vehicle door 62 each predicts that they can be opened up to a maximum possible opening angle and this information as control and / or warning information about a Provided interface 26, after the detection of the vehicle movement and the invalidation of part of the environment information of the environment map 30 by the prediction means 24 changed control and / or warning information is provided via the interface 26.
  • the control and / or warning information can be forwarded, for example, to a further control unit 70 which monitors angle measuring sensors 81, 82.
  • the further control unit 70 thus determines a current opening angle of the front vehicle door 61 via the angle measuring sensor 81 and the rear vehicle door 62 via the angle measuring sensor 82. If the vehicle doors 61, 62 are opened immediately after parking, they are still completely valid at one time on the surroundings map 30 is, in the illustrated situation, no warning signal is output.
  • a warning signal would be output at an output device 100, for example as a loudspeaker, at least at a specific opening angle which is smaller than this determined opening angle is formed, spent. It is also possible, via an actuator 91 or 92, which are associated with the vehicle doors 61 and 62, a door opening up to the determined maximum allowable angle for a collision-free opening at the request of a vehicle occupant causes. Likewise, the actuators may be configured to prevent opening of the doors 61, 62 beyond the determined maximum opening angle for collision-free opening of the corresponding vehicle doors 61, 62.
  • the second environment sensors 51, 52 can also be operated so that they are used during the opening movement of the vehicle components, here the vehicle doors 61, 62, to approach an object in the vehicle Environment 2 to capture. If the second environment sensors 51, 52 are designed as Doppler radar sensors, then, for example, only a very short time window can be evaluated after a start of the transmission of the radar signal to received reflected radar signals.
  • Another way to detect an approach to an object while moving the front vehicle door or the rear vehicle door via the measurement signals of the corresponding associated second environment sensors 51 and 52, is to evaluate an amplitude of the detected reflected radar signal or the corresponding Doppler radar signal. The greater the amplitude, the closer the object is in the environment 2 of the vehicle 1 to the corresponding moving second environment sensor 51 or 52.
  • the described collision avoidance device 40 comprises a plurality of components, which in turn may be components of other inputs or devices.
  • the embodiment described here comprises the device for collision avoidance 40, the second environment sensors 51, 52 and the prediction device 24.
  • the individual devices may be formed in different control devices, here denoted by the reference numerals 20 and 70, or a control device.
  • the evaluation and fusion device 22 and the prediction device 24 can with one or more specialized electronic circuit, a programmable processor unit coupled to a memory, or a combination of both.
  • To store the environment map memory is provided in any case. This may be formed together with a main memory of a processor unit or separately from such.
  • FIG. 2a is the vehicle 1, which includes first environment sensors 11 and second environment sensors 51, 52, shown in a parked situation next to a neighboring vehicle A 4.
  • an outer contour 6 of the neighboring vehicle A 4 is measured.
  • FIG. 2b shows the situation in which the neighboring vehicle A 4 leaves its parking position.
  • the outer contour 6, in which the vehicle was originally located, which is measured by means of the first environment sensors 11, is also in FIG. 2b shown.
  • the second environment sensors 51, 52 or one of the two second environmental sensors 51, 52, which are designed as Doppler radar sensors, already detect during the Ausparkvorgangs the neighboring vehicle A 4, a movement in the environment 2, which implies that the determined contour 6 of the neighboring vehicle A 4 not is more valid.
  • the vehicle door 61 can be opened up to an opening angle without intervention of the collision avoidance device, ie without a mechanical limitation or without issuing a warning signal, which should have been possible according to the originally determined vehicle contour.
  • a further opening is possible, or not possible, even without releasing a lock, even if during the pivoting operation no obstacle is detected by the second environment sensor 51, which would hinder further collision-free pivoting.
  • the collision avoidance device does not respond to the outdated information of the environment map, but allows a vehicle door opening, as long as due to the second environment sensor 51 no approach to an object 5 is detected, which could hinder a collision-free movement.
  • the collision avoidance device can not only on a lateral Vehicle doors, but in particular also be applied to tailgates, trunk lid, tilting roofs or the like, it is advantageous if the first environment sensors not only information in a plane, but also, for example, cover a ceiling height or the like.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Claims (10)

  1. Dispositif de prévention des collisions pour un véhicule (1), comprenant :
    un ou plusieurs capteurs d'environnement (11) dont les données de mesure délivrent une information à propos d'un écartement d'objets (3, 4) dans l'environnement (2) du véhicule (1), et un appareil d'interprétation et de fusion (22) qui, au moyen des données de mesure de l'un ou des plusieurs capteurs d'environnement (11), détermine une carte de l'environnement (30) du véhicule (1) à l'aide de laquelle une indication de probabilité pour une existence d'un objet (3, 4) dans des zones individuelles dans l'environnement (2) du véhicule (1) peut respectivement être dérivée pour lesdites zones individuelles, une indication de probabilité pour au moins une zone distinctive (161, 162) pouvant être dérivée à l'aide de la carte de l'environnement, laquelle, pour un mouvement exempt de collision d'un composant du véhicule, ne se trouve pas dans la zone de mesure actuelle de l'un ou des plusieurs capteurs d'environnement (11) lors de l'arrêt du véhicule (1), ainsi qu'un appareil de prédiction (24) qui est configuré pour déterminer et mettre à disposition des informations de commande et/ou d'alerte pour un mouvement prédit exempt de collision d'un composant du véhicule (61, 62) au moyen de la carte de l'environnement (30), l'absence de collision du mouvement prédit étant dépendante de la probabilité d'existence d'un objet (4, 5) dans l'au moins une zone distinctive (161, 162), caractérisé en ce qu'au moins un deuxième capteur d'environnement est connecté à l'appareil d'interprétation et de fusion (22), lequel est configuré pour, lors d'un arrêt du véhicule (1), détecter un mouvement d'un objet par rapport au véhicule au moins dans une région (110) de l'environnement du véhicule, laquelle inclut l'au moins une zone distinctive, et l'appareil d'interprétation et de fusion (22) est configuré pour modifier la carte de l'environnement en présence d'un mouvement détecté dans la région (110) de telle sorte qu'au moins la probabilité pouvant être dérivée de la carte de l'environnement pour l'au moins une zone distinctive est modifiée.
  2. Dispositif selon la revendication 1, caractérisé en ce que l'au moins un deuxième capteur d'environnement est un capteur radar Doppler.
  3. Dispositif selon l'une des revendications 1 ou 2, caractérisé en ce que l'au moins un deuxième capteur d'environnement (51, 52) est disposé sur le composant du véhicule (61, 62) pour lequel est prédit un mouvement exempt de collision.
  4. Dispositif selon la revendication 2 ou 3, caractérisé en ce que le capteur radar Doppler est configuré pour détecter ou interpréter le signal radar CW réfléchi seulement dans une fenêtre temporelle de réception afin de déterminer une information de distance supplémentaire par rapport à un objet (4, 5) dont le mouvement relatif est détecté et/ou discriminer les mouvements d'objet d'objets éloignés.
  5. Procédé de prévention des collisions de composants mobiles d'un véhicule avec des objets dans l'environnement du véhicule, comprenant les étapes suivantes :
    détection de données d'environnement à l'aide de premiers capteurs d'environnement (11) pendant un régime de déplacement du véhicule (1) et création d'une carte de l'environnement (30) par fusion des données de mesure, au moyen de laquelle une indication de probabilité pour une existence d'un objet (3, 4, 5) dans des zones individuelles dans l'environnement (2) du véhicule (1) peut respectivement être dérivée pour lesdites zones individuelles, prédiction d'un mouvement exempt de collision d'un composant du véhicule (61, 62) au moyen de la carte de l'environnement (30) du véhicule (1), l'absence de collision du mouvement prédit étant dépendante de la probabilité d'existence d'un objet (4, 5) dans l'au moins une zone distinctive (161, 162), et mise à disposition d'informations de commande et/ou d'alerte pour le mouvement prédit exempt de collision, caractérisé en ce qu'une mesure est effectuée au moyen d'au moins un deuxième capteur d'environnement (51, 52) lors de l'arrêt du véhicule (1) afin de déterminer si un objet (4, 5) se déplace par rapport au véhicule dans une région (110) qui inclut l'au moins une zone distinctive (161, 162), et si c'est le cas, la carte de l'environnement (30) dans la région (110) est modifiée de telle sorte qu'au moins la probabilité pouvant être dérivée de la carte de l'environnement pour l'au moins une zone distinctive (161, 162) est modifiée.
  6. Procédé selon la revendication 5, caractérisé en ce que le composant de véhicule est une portière de véhicule (61, 62) et le mouvement de pivotement de la portière de véhicule est prédit, et les informations de commande et/ou d'alerte comprennent un angle d'ouverture de portière maximum jusqu'auquel, sur la base des informations de probabilité dérivées de la carte de l'environnement (30), la portière peut être ouverte avec absence de collision.
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce qu'une mesure est effectuée au moyen de l'au moins un deuxième capteur d'environnement (51, 52) pendant un intervalle de temps donné après lequel le véhicule (1) s'est immobilisé et se trouve à l'arrêt, même lorsque l'allumage du véhicule (1) est mis hors circuit.
  8. Procédé selon l'une des revendications 5 à 7, caractérisé en ce que la mesure au moyen du deuxième capteur d'environnement (51) est stoppée lorsqu'un ou tous les composants du véhicule, dont le mouvement prédit exempt de collision est dépendant de la probabilité d'existence d'un objet (4, 5) dans l'au moins une zone distinctive (161) ou dans une autre zone distinctive (162), a/ont déjà été déplacé(s) une fois, une absence de collision d'un mouvement d'au moins un composant supplémentaire (62) étant dépendante de la probabilité d'existence d'un objet (4, 5) dans l'autre zone distinctive (162).
  9. Procédé selon l'une des revendications 5 à 8, caractérisé en ce que la carte de l'environnement ou au moins les zones de la carte de l'environnement qui se trouvent dans la région (110) qui est mesurée par le deuxième capteur d'environnement sont caractérisées comme non valides.
  10. Procédé selon l'une des revendications 5 à 9, caractérisé en ce qu'une mesure Doppler par radar est effectuée au moyen du deuxième capteur d'environnement et en ce que l'au moins un deuxième capteur d'environnement (51, 52) est disposé sur le composant du véhicule (61, 62) dont le mouvement est prédit, et le signal radar réfléchi est seulement interprété dans des fenêtres temporelles d'interprétation qui sont plus courtes que les fenêtres temporelles pendant lesquelles le signal radar est émis, et une information d'écartement par rapport à un objet qui se déplace par rapport au composant du véhicule (61, 62) est estimée dans les fenêtres temporelles d'interprétation au moyen des signaux radar réfléchis reçus.
EP13727831.3A 2012-07-27 2013-05-24 Procédé et dispositif permettant d'éviter des collisions Revoked EP2877987B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012014939.5A DE102012014939A1 (de) 2012-07-27 2012-07-27 Verfahren und Vorrichtung zur Kollisionsvermeidung
PCT/EP2013/060780 WO2014016012A1 (fr) 2012-07-27 2013-05-24 Procédé et dispositif permettant d'éviter des collisions

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EP2877987A1 EP2877987A1 (fr) 2015-06-03
EP2877987B1 true EP2877987B1 (fr) 2016-11-23

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EP13727831.3A Revoked EP2877987B1 (fr) 2012-07-27 2013-05-24 Procédé et dispositif permettant d'éviter des collisions

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CN (1) CN104508724B (fr)
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EP2877987A1 (fr) 2015-06-03
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DE102012014939A1 (de) 2014-01-30
WO2014016012A1 (fr) 2014-01-30

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