EP3326164B1 - Procédé et dispositif pour avertir d'autres usagers de la route qu'un véhicule circule incorrectement - Google Patents

Procédé et dispositif pour avertir d'autres usagers de la route qu'un véhicule circule incorrectement Download PDF

Info

Publication number
EP3326164B1
EP3326164B1 EP16724422.7A EP16724422A EP3326164B1 EP 3326164 B1 EP3326164 B1 EP 3326164B1 EP 16724422 A EP16724422 A EP 16724422A EP 3326164 B1 EP3326164 B1 EP 3326164B1
Authority
EP
European Patent Office
Prior art keywords
wrong
way
vehicle
driving
way driving
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.)
Active
Application number
EP16724422.7A
Other languages
German (de)
English (en)
Other versions
EP3326164A1 (fr
Inventor
Werner Poechmueller
Andreas Offenhaeuser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3326164A1 publication Critical patent/EP3326164A1/fr
Application granted granted Critical
Publication of EP3326164B1 publication Critical patent/EP3326164B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel

Definitions

  • the invention is based on a device or a method according to the preamble of the independent claims.
  • the present invention also relates to a computer program.
  • Wrong drivers also known as wrong-way drivers, cause deaths, injuries and considerable property damage in the event of an accident. More than half of the wrong-way journeys start at junctions with federal motorways (BAB) or roads with separate lanes. Especially when driving wrongly on motorways, accidents occur at high collision speeds and thus often injuries with fatal consequences.
  • BAB federal motorways
  • Wrong-way drivers can be detected in various ways.
  • video sensors can be used to detect the passage of a "no entry" sign.
  • a digital map can also be used in conjunction with a navigation system to detect a wrong direction of travel on a route section that can only be traveled in one direction.
  • wireless methods can be used that detect wrong-way drivers by means of infrastructure such as, for example, beacons in the lane or at the edge of the lane.
  • the DE 10 2013 224 167 A1 discloses a method for checking the plausibility of a Wrong trip of a motor vehicle, the wrong trip being checked for plausibility on the basis of the direction of travel of the motor vehicle and the direction of travel of another motor vehicle.
  • the DE 103 34 203 A1 discloses an interactive traffic processing method in which at least two road users are automatically informed of the current movement of the other in direct intercommunication at least within an adjustable range of one another.
  • the reliable detection of wrong-way driving takes time. During this time, the incorrectly driving vehicle is already moving against the direction of travel and a serious collision with another road user can occur. Establishing communication with other road users also requires additional time, during which the incorrectly driving vehicle moves against the direction of travel. So far too much time has passed before other road users can be warned.
  • the approach presented here begins with the establishment of communication when there is a certain possibility of driving the wrong way. Communication is established in the process, although it is not yet certain whether the vehicle will actually drive the wrong way. If the wrong-way trip is then detected with a high degree of certainty, a warning of the wrong-way driver can be transmitted via the communication that has already been established with a minimal delay.
  • a method according to claim 1 is presented.
  • Wrong travel can be understood to mean travel by a vehicle against an intended travel direction on a road with separate directional lanes. Likewise, a wrong trip against a one-way street, against the direction of travel of a departure ramp or against the direction of travel of a roundabout can take place. Another road user can be a driver of another vehicle. There is a potential for wrong-way driving, for example, at a point where two previously shared directional lanes with opposite directions of travel are spatially separated. The wrong-way potential is recognized as increased, for example, if the vehicle changes lane to the opposite lane shortly before such a point. A distinction can be made between an evasive maneuver in front of an obstacle in one's own direction of travel and a deliberately induced lane change.
  • the movement trajectory can be predicted into the future using at least one filter.
  • a prediction can be used to achieve a short response time for the predetection of the potential wrong-way trip or the detection of the actual wrong-way trip.
  • the movement trajectory can be determined using a vehicle movement model of the vehicle and additionally or alternatively an inertial sensor system of the vehicle. By means of a movement trajectory based on inertial sensors, precise detection of the wrong-way driving potential or the wrong-way driving can be carried out. This allows signals from a position determination system to be secured.
  • the wrong-way driving potential and / or the actual wrong-way driving can be determined using an environment sensor system of the vehicle.
  • An environment sensor system can be, for example, a camera system that detects and evaluates traffic signs and / or road markings. The wrong way can thus be recognized immediately when driving past at least one traffic sign and / or a road marking.
  • the wrong-way trip potential and the actual wrong-way trip can be determined using the same detection method. This can save processor capacity.
  • a recording can also be started if the wrong-way driving potential is greater than the pre-warning value.
  • a simple preservation of evidence can take place by recording relevant data of the vehicle and / or a video recording.
  • This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control device.
  • the pre-detection and the final detection can be based on the same detection method.
  • the pre-detection and the final detection can be based on the comparison of a movement trajectory with a section from a digital map.
  • the pre-detection and the final detection can be based on different methods, for example a traffic sign recognition and a Comparison of a movement trajectory with a section from a digital map.
  • An inertial sensor system can be used in conjunction with a vehicle movement model to develop a movement trajectory with a high temporal resolution.
  • a GPS-based movement trajectory can be used, which is predicted into the future by means of inertial sensors and using filters.
  • the inertial sensors of a smartphone can be used and the sensors can be calibrated on the server by continuously monitoring the smartphone.
  • the invention also relates to a system according to claim 8.
  • a system can be understood to mean electrical devices that process sensor signals and output control and / or data signals as a function thereof.
  • the system can have interfaces that can be designed in terms of hardware and / or software.
  • the interfaces can be part of so-called system ASICs, for example, which contain a wide variety of functions of the system.
  • the interfaces are separate, integrated circuits or at least partially consist of discrete components.
  • the interfaces can be software modules which, for example, are on a microcontroller in addition to other software modules available.
  • the system can be built up from spatially separated individual components.
  • the invention also relates to a computer program according to claim 9 and a storage medium according to claim 10.
  • FIG. 11 shows a representation of a movement trajectory 100 of a vehicle 102 driving incorrectly at a junction 104 of a motorway 106
  • Motorway 106 has two separate directional lanes with two lanes per direction of travel.
  • the connection point 104 is only partially shown here.
  • a departure ramp 108 with a deceleration lane 110 and an access ramp 112 with an acceleration lane 114 are shown.
  • the exit ramp 108 and the access ramp 112 run parallel to one another in a feeder area 116 and there form a common lane with two opposite directional lanes.
  • the feeder area 116 is oriented transversely to the freeway 106.
  • the directional lanes of the ramps 108, 112 divide and run in an arc to the freeway 106 until they merge approximately tangentially to the freeway 106 into the deceleration lane 110 and the acceleration lane 114, respectively.
  • the vehicle 102 is shown in the feeder area 116 and is traveling in the direction of the freeway 106.
  • the movement trajectory 100 shows the path that the vehicle 102 is traveling.
  • the movement trajectory 100 is composed of straight sections that connect points 118 to one another.
  • the points 118 each represent a detected position of the vehicle 102 at a specific point in time.
  • the positions can be determined by a positioning system such as GPS.
  • the positioning system used here has a detection frequency.
  • a distance between the points 118 is dependent on a speed of the vehicle 102. The faster the vehicle 102 moves, the greater the distances between the points 118.
  • the points 118 represent a probable position of the vehicle 102.
  • An actual position of the vehicle 102 can deviate to a greater or lesser extent from the probable position at the respective detection time.
  • the movement trajectory 100 shows that the vehicle 102 in the feeder area 116 leaves the lane of the access ramp 112 and changes to the lane of the departure ramp 108. Outside of the feeder area 116 this drives Vehicle 102 counter to direction of travel 120 along departure ramp 108 in the direction of motorway 106 and thus becomes wrong-way driver 102.
  • the movement trajectory 100 is compared with a model of the connection point 104 or with stored map data. If the recorded positions 118 indicate that the vehicle 102 is traveling in the opposite direction to the intended direction of travel 120, other road users can be warned.
  • No entry signs 122 are set up on both sides next to the departure ramp 108, which indicate the one-way regulation of the junction 104.
  • the signs 122 are aligned in such a way that they are clearly visible when driving against the direction of travel 120.
  • the wrong-way trip can also be detected by an optical detection system on vehicle 102 and / or at the connection point.
  • a wrong-way driver 102 If a wrong-way driver 102 is detected, for example, the wrong-way driver 102 himself can be warned via a display or acoustic instructions. Other drivers in the vicinity of a wrong-way driver 102 can also be warned, for example via vehicle-to-vehicle communication or by means of cellular radio. Furthermore, other road users can be warned via variable message signs set up on the roadside. It is also possible to intervene in the engine control or the brakes of the incorrectly driving vehicle 102.
  • Analyzes of wrong-way drivers 102 show that many wrong-way trips are completed within a distance of approximately 500 meters. If a wrong-way driver 102 is detected and other road users in his vicinity should be warned in good time, there is very little time available. Especially In the case of communication via a central server by means of mobile radio, this becomes critical, since a step of detecting, a step of identifying, a step of requesting, a step of fetching and a step of presenting take place one after the other.
  • a wrong-way driver 102 is detected.
  • the detection of the wrong-way driver 102 can take several seconds, depending on the method. In particular, sufficient time is required for detection by means of a digital map and GPS-supported vehicle position 118.
  • the vehicles to be warned are requested to set up communication with the central server.
  • direct communication from the server to the vehicle is usually not possible, but the vehicles to be warned must do this.
  • HMI Human Machine Interface
  • This movement trajectory 100 can now be compared with a digital map, in which the motorway ramps 108, 112 and the directions 120 permitted there are recorded. By comparing the determined movement trajectory 100 with the digital map, it can be decided whether a permitted trip is taking place or a wrong trip.
  • the challenge lies in deciding unequivocally whether there is a wrong-way driving, the input signals or vehicle positions 118 being disrupted, for example, by multi-path reception or atmospheric disturbances. It is also possible for the road geometry to take place in parallel or almost in parallel for a very long time between the driveway 112 and exit 108, so that it is only possible to decide without doubt at a late stage whether or not the wrong way is driving. It is entirely possible that six, seven or more GPS points 118 have to be analyzed one after the other until it can be decided without a doubt whether a wrong-way trip is involved. With a GPS position provision at 1 Hz, six seconds, seven seconds or more of valuable time can pass that was previously not available for warning other road users.
  • Fig. 2 shows an illustration of a pre-detection of a possible wrong-way trip and a structure of a communication link 200 according to an embodiment.
  • the wrong way is here at a junction 104, as shown in Fig. 1 is shown.
  • a movement trajectory 100 of a vehicle 102 counter to a direction of travel of a departure ramp 108 of the junction 104 is shown.
  • the communication link 200 is set up via a communication infrastructure 202 but is not yet used.
  • the communication link 200 is set up to road users 204 who would be endangered by the potential wrong-way trip. In the illustrated case, another vehicle 204 traveling on the freeway 106 in the direction of the junction 104 is acutely endangered.
  • the communication link 200 is kept open until the possibility of wrong-way travel has been averted.
  • the wrong-way trip is reliably detected. Wrong-way driver information is then provided for the endangered road users 204 via the already preventively established communication link 200 in order to warn the endangered road users 204.
  • a parallel communication setup to a client 204 to be warned before the detection of a wrong-way driver 102 is completed is presented.
  • the approach presented here describes an efficient method which minimizes the complete "round trip time" from the detection of wrong-way drivers to the presentation of the warning message in a vehicle 204 in the vicinity.
  • a “pre-detection” is provided which detects a wrong-way driver 102 as early as possible, even if the detection cannot yet take place reliably, for example after one to two seconds with the first GPS positions 118 of the vehicle 102.
  • FIG. 3 shows a flowchart of a method 300 for warning other road users according to an exemplary embodiment.
  • Method 300 warns the other road users when a vehicle is driving incorrectly.
  • a wrong-way driver is pre-detected in a function block 301.
  • a decision block 302 downstream of the predetection 301 a result of the predetection 301 is evaluated to determine whether a wrong-way trip is possible.
  • the pre-detection 301 is carried out again. If it is possible to drive the wrong way, a search for vehicles in the vicinity is carried out in a function block 303 downstream of decision block 302. Likewise, in parallel, a final wrong-way driver detection is carried out in a function block 304 downstream from decision block 302. In a decision block 305 downstream of the vehicle search 303, a result of the vehicle search 303 is evaluated to determine whether there are vehicles.
  • the pre-detection 301 is carried out again. If at least one vehicle is present, a communication to a server is established in a function block 306 downstream of decision block 305. In a decision block 307 following the communication setup 306, a check is made as to whether the communication has been setup. If communication has not been established, communication is established again immediately.
  • a result of the final wrong-way driver detection 304 is checked to determine whether a wrong-way driver is actually present. If there is a wrong-way driver and if communication has been established, the results are logically linked in a logic block 309, here by means of an AND logic operation, and a warning is output to a driver in a function block 310. Communication with the server is then cleared down in a function block 311. Communication disconnection 311 is also carried out if no actual wrong-way travel has been detected. After the communication cleardown 311, the predetection 301 is carried out again.
  • the method 300 only has the step 301 of predetecting, the step 304 of detecting, the step 306 of building and the step 310 of providing.
  • step 301 of the pre-detection a wrong-way potential of a possible wrong-way drive of the vehicle is pre-detected. If the wrong-way potential is greater than a warning value, in step 306 of setting up a communication link is set up to at least one road user at risk from the wrong-way trip.
  • step 304 of the detection the wrong-way driving of the vehicle is detected. If the possible wrong-way driving is detected as an actual wrong-way driving, wrong-way driver information is provided for the endangered road user via the established communication link in step 310 of providing.
  • the communication link can be established in step 306 before the actual detection of the wrong-way trip in step 304. This has the The advantage that the communication link is already established when the wrong-way trip is detected.
  • the pre-detection step 301 takes place cyclically. If the wrong-way driving potential is less than the pre-warning value, step 301 of pre-detection is carried out again.
  • step 306 of setting up in a sub-step 303 of the search, road users at risk due to the possible wrong-way trip are searched for. If endangered road users are found, the communication path to these road users is established. The build-up 306 takes place cyclically. If the communication link is not established securely, the establishment 306 is initiated again.
  • step 304 of the detection If no wrong-way travel is detected in step 304 of the detection, the communication link is cleared down again in a step 311 of clearing down.
  • a decision block 302 starts the search 303 for vehicles in the vicinity.
  • the final wrong-way driver detection 304 continues until it is certain whether a wrong-way trip is present. If there are vehicles in the vicinity of the potential wrong-way driver, the communication setup 306 of the vehicles in the vicinity to the server is initiated in parallel via a further decision block 305. Once communication has been established 306, communication is maintained until the final wrong-way driver decision has been made.
  • a warning 310 is sent to the vehicles in the vicinity or their drivers provided. Communication can then be terminated again and the process is ended. If no wrong-way trip is detected, the driver in the vicinity is not warned and the communication between this driver and the server is also dismantled and the pre-detection 301 for a potential wrong-way trip begins anew.
  • the pre-detection 301 of a potential wrong-way driver is separated from the final detection 304 in connection with an immediate communication setup 306 to vehicles in the vicinity, while the final detection 304 is not yet completed.
  • both the pre-detection 301 and the final wrong-way driver detection 304 both take place locally in the vehicle of the potential wrong-way driver.
  • both tasks 301, 304 are performed on the central server.
  • one of the two tasks 301, 304 is carried out in the vehicle and the other is carried out on the central server.
  • the pre-detection 301 and the final detection 304 can be based on different detection methods, for example on a video-based detection of a “no entry” traffic sign and a comparison of a GPS trajectory with a digital map.
  • the GPS-based movement trajectory is filtered, for example, with a low-pass filtering and updated into the future by means of inertial sensors and used for pre-detection 301. This allows a very early pre-detection 301 of a potential wrong-way driver to take place.
  • the server can calibrate its inertial sensors by continuously monitoring the sensors.
  • an evidence camera is activated both in the vehicle of the wrong-way driver and in the vehicle of the driver to be warned.
  • a function such as an accident camera can also be activated preventively in order to document the process.
  • Fig. 4 shows a block diagram of a system 400 for warning other road users according to an embodiment.
  • the system 400 has a component 402 for pre-detection, a component 404 for building, a component 406 for detecting and a component 408 for providing.
  • the component 402 for pre-detection is designed to pre-detect a wrong-way potential of a possible wrong-way drive of the vehicle.
  • the setting up component 404 is designed to set up a communication link to at least one road user at risk from the wrong-way trip, if the wrong-way trip potential is greater than an advance warning value.
  • the component 406 for detection is designed to detect that the vehicle is traveling in the wrong direction.
  • the component 408 for providing is designed to provide wrong-way driver information for the endangered road user via the communication link established if the possible wrong-way trip is detected as an actual wrong-way trip.
  • an exemplary embodiment comprises a “and / or” link between a first feature and a second feature, this is to be read in such a way that the exemplary embodiment according to one embodiment includes both the first feature and the second feature and according to a further embodiment either only the has the first feature or only the second feature.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Claims (10)

  1. Procédé (300) pour avertir (310) les autres usagers de la circulation (204) dans la présence d'un véhicule (102) circulant de manière incorrecte, un véhicule (102) circulant de manière incorrecte étant un véhicule (102) qui circule à contresens d'un sens de circulation prévu, le procédé (300) comprenant les étapes suivantes :
    détection anticipée (301) d'un potentiel de circulation incorrecte d'une circulation incorrecte possible du véhicule (102) en utilisant un procédé de détection ;
    établissement (306) d'une ligne de communication (200) vers au moins un usager de la circulation (204) mis en danger par la circulation incorrecte lorsque le potentiel de circulation incorrecte est supérieur à une valeur de préalerte en invitant, au moyen de la radiocommunication mobile, l'au moins un usager de la circulation (204) mis en danger par la circulation incorrecte à établir une communication avec un serveur central, et la ligne de communication (200) étant établie mais n'étant pas encore utilisée ;
    détection (304) de la circulation incorrecte du véhicule (102) en utilisant le procédé de détection ou un procédé de détection supplémentaire ;
    fourniture (310) d'une information de conducteur circulant de manière incorrecte pour l'usager de la circulation (204) mis en danger par le biais de la ligne de communication (200) établie lorsque la circulation incorrecte possible est détectée comme étant une circulation incorrecte effective, l'information de conducteur circulant de manière incorrecte étant récupérée par l'usager de la circulation (204) mis en danger auprès du serveur central ; et
    coupure (311) de la ligne de communication (200) lorsque le potentiel de circulation incorrecte est inférieur à la valeur de préalerte et/ou si aucune circulation incorrecte effective n'est détectée.
  2. Procédé (300) selon la revendication 1, avec lequel le potentiel de circulation incorrecte, à l'étape (301) de détection anticipée, et/ou la circulation incorrecte effective, à l'étape (304) de détection, sont déterminés en utilisant une comparaison entre une position identifiée du véhicule (118) et/ou une trajectoire de déplacement (100) du véhicule (102) et des données cartographiques.
  3. Procédé (300) selon la revendication 2, avec lequel, à l'étape (301) de détection anticipée et/ou à l'étape (304) de détection, la trajectoire de déplacement (100) est prédite dans l'avenir en utilisant au moins un filtre.
  4. Procédé (300) selon l'une des revendications 2 et 3, avec lequel, à l'étape (301) de détection anticipée et/ou à l'étape (304) de détection, la trajectoire de déplacement (100) est déterminée en utilisant un modèle de déplacement de véhicule du véhicule (102) et/ou un système de détection inertielle du véhicule (102).
  5. Procédé (300) selon l'une des revendications précédentes, avec lequel le potentiel de circulation incorrecte, à l'étape (301) de détection anticipée, et/ou la circulation incorrecte effective, à l'étape (304) de détection, sont déterminés en utilisant un système de détection d'environnement du véhicule (102).
  6. Procédé (300) selon l'une des revendications précédentes, avec lequel le potentiel de circulation incorrecte, à l'étape (301) de détection anticipée, et la circulation incorrecte effective, à l'étape (304) de détection, sont déterminés en utilisant le même procédé de détection.
  7. Procédé (300) selon l'une des revendications précédentes, avec lequel un enregistrement est en outre démarré à l'étape (306) d'établissement lorsque le potentiel de circulation incorrecte est supérieur à la valeur de préalerte.
  8. Système (400), possédant :
    un composant de détection anticipée (402) ;
    un composant d'établissement (404) ;
    un composant de détection (406) ; et
    un composant de fourniture (408), les composants (402, 404, 406, 408) étant configurés pour exécuter les étapes du procédé selon l'une des revendications précédentes.
  9. Programme informatique, qui est conçu pour mettre en œuvre le procédé (300) selon l'une des revendications 1 à 7.
  10. Support d'enregistrement lisible par machine, sur lequel est enregistré le programme informatique selon la revendication 9.
EP16724422.7A 2015-07-17 2016-05-23 Procédé et dispositif pour avertir d'autres usagers de la route qu'un véhicule circule incorrectement Active EP3326164B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015213517.9A DE102015213517A1 (de) 2015-07-17 2015-07-17 Verfahren und Vorrichtung zum Warnen anderer Verkehrsteilnehmer bei einem falsch fahrenden Fahrzeug
PCT/EP2016/061588 WO2017012742A1 (fr) 2015-07-17 2016-05-23 Procédé et dispositif pour avertir d'autres usagers de la route qu'un véhicule circule incorrectement

Publications (2)

Publication Number Publication Date
EP3326164A1 EP3326164A1 (fr) 2018-05-30
EP3326164B1 true EP3326164B1 (fr) 2021-05-05

Family

ID=56068908

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16724422.7A Active EP3326164B1 (fr) 2015-07-17 2016-05-23 Procédé et dispositif pour avertir d'autres usagers de la route qu'un véhicule circule incorrectement

Country Status (6)

Country Link
US (1) US10089877B2 (fr)
EP (1) EP3326164B1 (fr)
JP (1) JP6605705B2 (fr)
CN (1) CN107851380B (fr)
DE (1) DE102015213517A1 (fr)
WO (1) WO2017012742A1 (fr)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10351131B2 (en) * 2016-08-16 2019-07-16 University Of Central Florida Research Foundation, Inc. Wrong way vehicle detection and control system
DE102017222751A1 (de) * 2017-12-14 2019-06-19 Robert Bosch Gmbh Verfahren und System zum Warnen von Verkehrsteilnehmern vor einer Falschfahrt eines Fahrzeugs mit Nachplausibilisierung
JP7081316B2 (ja) * 2018-06-08 2022-06-07 スズキ株式会社 運転支援装置
US10926766B2 (en) * 2018-06-18 2021-02-23 Toyota Motor Engineering & Manufacturing North America, Inc. One-way direction sensing system
SG11202013011VA (en) * 2018-06-27 2021-01-28 Mitsubishi Heavy Industries Machinery Systems Ltd Terminal device, rearward server, in-vehicle transponder, determination system, determination method, and program
US20200133308A1 (en) * 2018-10-18 2020-04-30 Cartica Ai Ltd Vehicle to vehicle (v2v) communication less truck platooning
US11127288B2 (en) * 2019-12-05 2021-09-21 Geotoll, Inc. Wrong way driving detection
US11548521B2 (en) * 2020-03-31 2023-01-10 Toyota Research Institute, Inc. Systems, methods and vehicles for determining wrong direction driving
US11450204B2 (en) * 2020-12-01 2022-09-20 Verizon Patent And Licensing Inc. Systems and methods for fiber optic based vehicle-direction detection
US11505206B2 (en) 2020-12-14 2022-11-22 GM Global Technology Operations LLC Wrong-way driving detection and collision mitigation
DE102021210687A1 (de) 2021-09-24 2023-03-30 Psa Automobiles Sa Effizienzgesteigerte Kommunikation kooperativ agierender automatisierter Fahrzeuge
EP4283592A1 (fr) 2022-05-27 2023-11-29 Volkswagen Ag Procédé de détection de conduite en sens de marche légal inverse
DE102022207004A1 (de) * 2022-07-08 2024-01-11 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Fahrzeugs und Fahrzeug

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT397314B (de) * 1988-09-12 1994-03-25 Elin Union Ag Verkehrswarnsystem
JP4629922B2 (ja) * 2001-07-05 2011-02-09 三菱電機エンジニアリング株式会社 交通事故音検出装置
FR2851362B1 (fr) * 2003-02-18 2005-04-29 Lacroix Soc E Dispositif pyrotechnique de prevention de l'acces a une voie routiere en contresens
DE10334203A1 (de) * 2003-07-26 2005-03-10 Volkswagen Ag Verfahren zum Betrieb eines interaktiven Verkehrsabwicklungssystemes und interaktives Verkehrsabwicklungssystem selbst
DE20318567U1 (de) * 2003-11-27 2004-06-09 Kynast, Berthold Vorrichtung zur Verhinderung von Geisterfahrten auf Autobahnen und Schnellstraßen
EP1544829B1 (fr) * 2003-12-19 2017-02-15 Samsung Electronics Co., Ltd. Méthode et système de navigation
JP2007139531A (ja) * 2005-11-17 2007-06-07 Hitachi Software Eng Co Ltd 車両逆走防止システムおよび車載用カーナビゲーションシステム
WO2007103180A2 (fr) * 2006-03-03 2007-09-13 Inrix, Inc. Évaluation des conditions de circulation routière au moyen de données provenant de sources de données mobiles
JP2009140008A (ja) * 2007-12-03 2009-06-25 Sumitomo Electric Ind Ltd 危険走行情報提供装置、危険走行判定プログラム及び危険走行判定方法
JP4941273B2 (ja) * 2007-12-20 2012-05-30 株式会社Ｊｖｃケンウッド 路車間通信システム
JP4941274B2 (ja) * 2007-12-20 2012-05-30 株式会社Ｊｖｃケンウッド 路車間通信システム
JP5015849B2 (ja) * 2008-04-11 2012-08-29 トヨタ自動車株式会社 逆走警告装置、逆走警告方法
JP5182045B2 (ja) * 2008-12-01 2013-04-10 トヨタ自動車株式会社 進路予測装置
JP5885379B2 (ja) * 2010-01-27 2016-03-15 京セラ株式会社 通信システム及び携帯通信装置
DE102010003429A1 (de) * 2010-03-30 2011-10-06 Bayerische Motoren Werke Aktiengesellschaft Kommunikation zwischen mobilen Endgeräten
CN102278993B (zh) * 2010-06-09 2015-11-25 深圳富泰宏精密工业有限公司 车载导航装置及方法
DE102010052129A1 (de) * 2010-11-22 2012-06-06 GM Global Technology Operations LLC Verfahren zum Betreiben eines Kraftfahrzeugs und Kraftfahrzeug
JP2012127790A (ja) * 2010-12-15 2012-07-05 Denso Corp ナビゲーション装置
JP5479398B2 (ja) * 2011-03-29 2014-04-23 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法及びコンピュータプログラム
US20120286974A1 (en) 2011-05-11 2012-11-15 Siemens Corporation Hit and Run Prevention and Documentation System for Vehicles
WO2013014755A1 (fr) * 2011-07-26 2013-01-31 トヨタ自動車株式会社 Système de spécification de véhicule et dispositif de spécification de véhicule
DE102011082600B4 (de) * 2011-09-13 2023-02-09 Robert Bosch Gmbh Erkennung eines Befahrens eines Fahrzeuges in eine nicht zulässige Fahrtrichtung
JP5796740B2 (ja) * 2011-12-09 2015-10-21 アイシン・エィ・ダブリュ株式会社 交通情報通知システム、交通情報通知プログラム及び交通情報通知方法
CN102542804B (zh) * 2012-02-06 2014-04-02 张轶伦 车辆行驶状态监控方法、路侧信标以及智能交通监控***
DE102012208646A1 (de) * 2012-05-23 2013-11-28 Siemens Aktiengesellschaft Verfahren zur Kommunikation innerhalb eines nach Art des ad-hoc zusammenwirkenden, insbesondere Drahtlos-, Kraftfahrzeugkommunikationssystems, Einrichtung der Verkehrsinfrastruktur sowie Verkehrsteilnehmereinrichtung
DE102014210411A1 (de) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs
DE102014208662A1 (de) 2013-09-06 2015-03-12 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs
CN103578294B (zh) * 2013-10-28 2015-12-30 北京航空航天大学 一种基于专用短程通信的弯道协同避撞预警方法
EP2871627B1 (fr) * 2013-11-12 2016-10-26 Kapsch TrafficCom AG Procédé et unité embarquée pour l'avertissement en cas de conduite à contresens
DE102013224167A1 (de) * 2013-11-26 2015-05-28 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs
DE102013224171A1 (de) * 2013-11-26 2015-05-28 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zur Erkennung einer Einfahrt eines Kraftfahrzeugs in einen Fahrstreifen einer Straße entgegen einer Fahrrichtung
JP6237214B2 (ja) * 2013-12-24 2017-11-29 株式会社デンソー 逆走検出装置
CN104002809B (zh) * 2014-05-28 2016-08-24 长安大学 一种车辆岔口路段检测装置及检测方法

Also Published As

Publication number Publication date
US20180218608A1 (en) 2018-08-02
EP3326164A1 (fr) 2018-05-30
US10089877B2 (en) 2018-10-02
CN107851380B (zh) 2021-03-23
JP2018522355A (ja) 2018-08-09
DE102015213517A1 (de) 2017-01-19
WO2017012742A1 (fr) 2017-01-26
JP6605705B2 (ja) 2019-11-13
CN107851380A (zh) 2018-03-27

Similar Documents

Publication Publication Date Title
EP3326164B1 (fr) Procédé et dispositif pour avertir d'autres usagers de la route qu'un véhicule circule incorrectement
EP3213260B1 (fr) Procédé et dispositif pour localiser un véhicule dans son environnement
EP2826031B1 (fr) Procédé pour la détection d'un embouteillage au moyen d'une communication sans fil voiture-à-voiture
EP2636577B1 (fr) Procédé destiné à avertir le conducteur d'un véhicule automobile d'une situation de danger suite à un dérapage involontaire sur une voie à contresens
DE102016217645B4 (de) Verfahren zum Bereitstellen von Information über eine voraussichtliche Fahrintention eines Fahrzeugs
DE112012006226B4 (de) Fahrassistenzvorrichtung
EP3292423B1 (fr) Procédé de diagnostic pour un capteur de vision d'un véhicule et véhicule muni d'un capteur de vision
DE102016123427A1 (de) Fahrunterstützungsvorrichtung
DE102012008090A1 (de) Verfahren und Vorrichtung zum Nothalt eines Kraftfahrzeugs
WO2015032709A1 (fr) Procédé et dispositif de surveillance de la circulation routière pour la constatation d'une circulation dans le mauvais sens d'un véhicule automobile
DE102014205953A1 (de) Verfahren zur Analyse einer Verkehrsumfeldsituation eines Fahrzeugs
WO2009027253A1 (fr) Système de contrôle de trafic
DE102018211941B4 (de) Verfahren zum Ermitteln einer Kreuzungstopologie einer Straßenkreuzung
WO2017045779A1 (fr) Dispositif, procédé et programme d'ordinateur pour fournir des informations concernant la fin d'un embouteillage par une interface de véhicule à véhicule
EP2562735A1 (fr) Procédé et dispositif d'analyse d'un tronçon de trajet à parcourir par un véhicule
EP3465090A1 (fr) Procédé pour fournir une information de trajectoire de véhicule et procédé pour localiser un nid de poule
DE102018221054B4 (de) Verfahren zum Bereitstellen von Kartendaten in einem Kraftfahrzeug, Kraftfahrzeug und zentrale Datenverarbeitungseinrichtung
WO2016150590A1 (fr) Procédé et dispositif pour surveiller une trajectoire de consigne à parcourir par un véhicule au sujet de l'absence de collision
EP3151213B1 (fr) Dispositif de véhicule et procédé d'enregistrement d'une zone environnante d'un véhicule automobile
DE102005020429A1 (de) Verfahren und Vorrichtung zur Unterstützung des Fahrers beim Überqueren von Verkehrskreuzungen
DE102014217877A1 (de) Vorrichtung und Verfahren zum Erkennen von Verkehrszeichen
DE102014202509A1 (de) Steuerung einer hoch- oder vollautomatischen Fahrfunktion
EP3609755A1 (fr) Système d'assistance au conducteur pour un véhicule
WO2015155120A1 (fr) Procédé pour faire fonctionner au moins un système d'information de conducteurs concernant des étranglements du trafic routier et système d'information de conducteurs
DE102018251778A1 (de) Verfahren zum Assistieren eines Kraftfahrzeugs

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180219

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ROBERT BOSCH GMBH

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20201218

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1390794

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210515

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502016012983

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210805

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210906

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210805

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210806

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210905

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20210505

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210523

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502016012983

Country of ref document: DE

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210531

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

26N No opposition filed

Effective date: 20220208

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210523

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210905

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1390794

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210523

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210523

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20160523

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230517

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230522

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20230726

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505