SE543781C2 - Method and control unit for predicting a collision between a vehicle and a mobile object - Google Patents

Method and control unit for predicting a collision between a vehicle and a mobile object

Info

Publication number
SE543781C2
SE543781C2 SE1950883A SE1950883A SE543781C2 SE 543781 C2 SE543781 C2 SE 543781C2 SE 1950883 A SE1950883 A SE 1950883A SE 1950883 A SE1950883 A SE 1950883A SE 543781 C2 SE543781 C2 SE 543781C2
Authority
SE
Sweden
Prior art keywords
vehicle
mobile object
trajectory
time
collision
Prior art date
Application number
SE1950883A
Other languages
English (en)
Other versions
SE1950883A1 (sv
Inventor
Fredrik Nordin
Jakob Arnoldsson
Magnus Granström
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1950883A priority Critical patent/SE543781C2/en
Publication of SE1950883A1 publication Critical patent/SE1950883A1/sv
Publication of SE543781C2 publication Critical patent/SE543781C2/en

Links

Classifications

    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W30/18159—Traversing an intersection
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • 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
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Claims (16)

1. Förfarande för prediktion av en kollision mellan ett fordon (1) och ettmobilt objekt (2), varvid förfarandet innefattar: - erhållande (S1) av en första bana som definierar en avsedd bana förfordonet (1 ), - fastställande (S2) av en aktuell position och hastighet hos ett mobilt objekt(2), med vilket fordonet (1) riskerar att kollidera, - uppskattning (S3), baserat på det mobila objektets (2) aktuella position ochhastighet, av en andra bana som definierar en predicerad framtida bana fördet mobila objektet (2), - jämförelse (S4) av en position, vid en tidpunkt, på en av de första och andrabanorna med var och en av ett flertal positioner, vid ett flertal på varandraföljande diskreta tidpunkter i ett tidsfönster (T) på den andra banan, och - fastställande (S5) av en framtida kollision baserat på om jämförelsen avslöjarminst en överlappning av fordonets (1) position och det mobila objektets (2) position.
2. Förfarande enligt krav 1, varvid en storlek på tidsfönstret kan konfigureras dynamiskt.
3. Förfarande enligt krav 2, varvid tidsfönstrets storlek bestäms baseratpå en kollisionsrisk eller baserat på en uppskattad osäkerhetsnivå inom ett systemhos fordonet (1 ).
4. Förfarande enligt något av föregående krav, varvid tidsfönstret (T) innefattar nämnda ena tidpunkt.
5. Förfarande enligt något av föregående patentkrav, varvid avstånden mellan de på varandra följande diskreta tidpunkterna är variabla eller statiska.
6. Förfarande enligt något av föregående krav, varvid det mobila objektet (2) är ett annat fordon, en fotgängare eller ett djur. 18
7. Förfarande enligt något av föregående krav, varvid uppskattningen(S3) av den andra banan baseras på minst ett av: kartdata, en acceleration av detmobila objektet (2), en vinkelhastighet hos det mobila objektet, hastigheten hos detmobila objektet och en känd avsedd bana hos det mobila objektet (2).
8. Förfarande enligt något av föregående krav, varvid fastställandet (S5)baseras på en volym eller area hos fordonet (1) och/eller det mobila objektet (2).
9. Förfarande enligt krav 8, varvid volymen eller arean är en enkel geometrisk form.
10. Förfarande enligt något av föregående krav, varvid den prediceradeframtida banan innefattar ett flertal möjliga alternativa framtida banor.
11. Förfarande enligt något av föregående krav, varvid tidsfönstretutsträcker sig före och/eller efter nämnda ena tidpunkt.
12. Förfarande enligt något av föregående krav, omfattande:- styrning (S6) av framförande av fordonet baserat på den fastställda framtida kollisionen.
13. Datorprogram omfattande instruktioner som, när datorprogrammetexekveras av en dator, bringar datorn att utföra förfarandet enligt något av de föregående kraven.
14. Styrenhet (10) konfigurerad för att styra ett fordon (1), varvidstyrenheten (6) är konfigurerad för:- erhållande av en första bana som definierar en avsedd bana förfordonet (1 ),- fastställande av en aktuell position och hastighet hos ett mobilt objekt (2)som fordonet (1) riskerar att kollidera med, 19 - uppskattning, baserat på det mobila objektets (2) aktuella position ochhastighet, av en andra bana som definierar en predicerad framtida bana fördet mobila objektet (2),- jämförelse en position, vid en tidpunkt, på en av de första och andra banorna5 med var och en av ett flertal positioner, vid ett flertal på varandra följandediskreta tidpunkter i ett tidsfönster (T) på den andra banan, och- fastställande av en framtida kollision baserat på om jämförelsen avslöjarminst en överlappning av fordonets (1) position och det mobila objektets (2)position.
15. Styranordning (10) enligt krav 14, varvid styranordningen (10) ärkonfigurerad för utförande av förfarandet enligt något av kraven 2 till 12.
16. Fordon (1) innefattande en styrenhet (10) enligt krav 15.
SE1950883A 2019-07-11 2019-07-11 Method and control unit for predicting a collision between a vehicle and a mobile object SE543781C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE1950883A SE543781C2 (en) 2019-07-11 2019-07-11 Method and control unit for predicting a collision between a vehicle and a mobile object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1950883A SE543781C2 (en) 2019-07-11 2019-07-11 Method and control unit for predicting a collision between a vehicle and a mobile object

Publications (2)

Publication Number Publication Date
SE1950883A1 SE1950883A1 (sv) 2021-01-12
SE543781C2 true SE543781C2 (en) 2021-07-20

Family

ID=74222111

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1950883A SE543781C2 (en) 2019-07-11 2019-07-11 Method and control unit for predicting a collision between a vehicle and a mobile object

Country Status (1)

Country Link
SE (1) SE543781C2 (sv)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4350641A1 (en) * 2022-10-04 2024-04-10 aiMotive Kft. Automatic traffic-aware semantic annotation of dynamic objects

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100228419A1 (en) * 2009-03-09 2010-09-09 Gm Global Technology Operations, Inc. method to assess risk associated with operating an autonomic vehicle control system
US20150241880A1 (en) * 2014-02-26 2015-08-27 Electronics And Telecommunications Research Institute Apparatus and method for sharing vehicle information
DE102015214689A1 (de) * 2014-08-04 2016-02-04 Continental Teves Ag & Co. Ohg System für ein automatisiertes kooperatives Fahren
EP3048022A1 (en) * 2015-01-20 2016-07-27 Toyota Jidosha Kabushiki Kaisha Collision avoidance control system and control method
DE102016218549B3 (de) * 2016-09-27 2017-12-28 Audi Ag Verfahren zur Ermittlung eines eine Kollision betreffenden Prognoseergebnisses
DE102016009954A1 (de) * 2016-08-16 2018-02-22 MSR ENGINEERING Heiko Evers e.K. Verfahren zur Früherkennung von Kollisionen zwischen mindestens zwei mobilen Objekten und Frühwarnsystem
US20180114443A1 (en) * 2015-04-02 2018-04-26 Denso Corporation Collision avoidance apparatus, collision avoidance system, and driving support method
WO2019034514A1 (en) * 2017-08-16 2019-02-21 Valeo Schalter Und Sensoren Gmbh METHOD AND SYSTEM FOR AVOIDING THE COLLISION OF A VEHICLE

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100228419A1 (en) * 2009-03-09 2010-09-09 Gm Global Technology Operations, Inc. method to assess risk associated with operating an autonomic vehicle control system
US20150241880A1 (en) * 2014-02-26 2015-08-27 Electronics And Telecommunications Research Institute Apparatus and method for sharing vehicle information
DE102015214689A1 (de) * 2014-08-04 2016-02-04 Continental Teves Ag & Co. Ohg System für ein automatisiertes kooperatives Fahren
EP3048022A1 (en) * 2015-01-20 2016-07-27 Toyota Jidosha Kabushiki Kaisha Collision avoidance control system and control method
US20180114443A1 (en) * 2015-04-02 2018-04-26 Denso Corporation Collision avoidance apparatus, collision avoidance system, and driving support method
DE102016009954A1 (de) * 2016-08-16 2018-02-22 MSR ENGINEERING Heiko Evers e.K. Verfahren zur Früherkennung von Kollisionen zwischen mindestens zwei mobilen Objekten und Frühwarnsystem
DE102016218549B3 (de) * 2016-09-27 2017-12-28 Audi Ag Verfahren zur Ermittlung eines eine Kollision betreffenden Prognoseergebnisses
WO2019034514A1 (en) * 2017-08-16 2019-02-21 Valeo Schalter Und Sensoren Gmbh METHOD AND SYSTEM FOR AVOIDING THE COLLISION OF A VEHICLE

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Publication number Publication date
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