WO2007051835A1 - Dispositif d’assistance pour conducteur lors de la conduite d’un véhicule - Google Patents

Dispositif d’assistance pour conducteur lors de la conduite d’un véhicule Download PDF

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Publication number
WO2007051835A1
WO2007051835A1 PCT/EP2006/068066 EP2006068066W WO2007051835A1 WO 2007051835 A1 WO2007051835 A1 WO 2007051835A1 EP 2006068066 W EP2006068066 W EP 2006068066W WO 2007051835 A1 WO2007051835 A1 WO 2007051835A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lane
detection
driver
sensors
Prior art date
Application number
PCT/EP2006/068066
Other languages
German (de)
English (en)
Inventor
Samir Attayebi
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2007051835A1 publication Critical patent/WO2007051835A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the invention relates to the field of lane detection for vehicles and more particularly relates to a method having the features of the preamble of claim 1.
  • LKS systems Lane Keeping Support
  • Known LKS systems include a lane detection system such.
  • B a video system with which the curvature of the lane and the relative position of the vehicle in the lane, the so-called filing and orientation, can be determined.
  • steering Stellers such as a servomotor, artificial steering forces exerted on the steering of the vehicle. These steering forces are so strong that they can be haptically detected by the driver and inform the driver how he would have to operate the steering to keep the vehicle in its lane.
  • the lane recognition system can be implemented, for example, as a video system whose video signals are processed by a signal processing software that provides the desired geometric data (storage, orientation, lane curvature).
  • Other lane detection systems include e.g. a magnetic sensor that determines the vehicle position in conjunction with in-road magnets, or optionally, radar sensors.
  • a reference steering angle is then calculated by means of a mathematical reference model (algorithm), which would have to be taken at the steering in order to keep the vehicle optimally in its lane.
  • a support torque is then applied to the steering with the aid of a steering actuator.
  • the assist torque is calculated based on a given characteristic curve.
  • DE 101 25 966 A1 discloses a curve warning system for motor vehicles, in particular for motor vehicles of great length.
  • a sensor device detects the steering angle of the front axle of the motor vehicle and - with several steerable axles - and their steering angle.
  • a recognition device detects obstacles in the lateral environment of the motor vehicle. If the detection device detects an obstacle, calculates a calculation means based on the steering angle and the vehicle speed of the vehicle ahead of whether a collision with the obstacle threatens, and generates a warning signal for the driver in case of collision.
  • a method for warning the driver of a vehicle in front of a vehicle driving on the instantaneous track is known.
  • the traffic environment is monitored in front of the vehicle by means of a radar device for the presence of a preceding vehicle and the distance of the own vehicle to a detected vehicle ahead, and determines its relative speed.
  • a safety distance between the two vehicles is calculated, which is then compared with the measured distance. If the measured distance is less than the safety margin, a warning signal is generated and the risk of collision is displayed on an optical display panel.
  • the surroundings detection is also extended to the respective rear space of adjacent lanes, so that even in the run-up to a planned lane change the expected accident risk can be determined.
  • DE 195 07 957 Cl discloses a vehicle that is equipped with a system for sleep alarm.
  • the vehicle has a side-mounted optical scanning device for contactless detection of lane markings that limit the lane of the vehicle to the side.
  • the sensor data provided by the scanning device are supplied to an evaluation unit for determining a distance present between the vehicle and the detected lane markings.
  • the evaluation unit determines the vehicle lateral velocity relative to the detected lane markings, wherein a sleep alert in the form of an acoustic signal is triggered when, due to the present distance and the vehicle lateral velocity, it appears that a lane departure threatens.
  • the invention Since the requirement that the roads are marked with clearly visible lines is not always given, for example on narrow country roads, new roads still without marking, worn-out roads Illustrations and the like, the invention has the object to provide a method for improved Lane Assistant.
  • a reliable detection of the roadway edge can be done either via contrast images of a camera or via imaging distance measurements, for example via radar scanner. These sensors scan the edge development or edge planting and thus limit the paved road edges.
  • recognition of a lane change takes place when there is a difference between the signals which are directed by the sensors which are aligned in the same vehicle transverse direction.
  • At least one infrared sensor is mounted on at least one front and / or at least one rear bumper, wherein at least each attached infrared sensors on each individual bumper has at least two different Abstrahlöff- angle for scanning a relevant area of the road surface and the road edge and of a permanent scan of the relevant area of the road surface and the road edge is performed to all infrared sensors, wherein the signals detected by the individual infrared sensors are related to each other.
  • a further advantageous embodiment provides that infrared sensors under at least one front and at least at least one rear bumper, wherein each individual bumper has at least two infrared sensors with at least two different Abstrahlo réelleswinkeln for scanning a relevant area of the road surface and the road edge and carried out by all infrared sensors, a permanent scan of the relevant area of the road surface and the roadside (20) is, wherein the signals determined by the individual infrared sensors are related to each other.
  • detection of a lane change takes place when a difference between the space area of the front right vehicle corner and the rear right vehicle corner and / or the front left vehicle corner and the rear left vehicle corner is detected, as determined by the infrared sensors indicates a change in the direction of travel reflects.
  • the driver which can be activated by the driver is checked and when the signal transmitter is deactivated, an optical, acoustic or haptic warning signal is emitted to the driver via an unintentional lane change in order to warn the driver of an unintended lane change.
  • an optical, acoustic or haptic warning signal is emitted to the driver via an unintentional lane change in order to warn the driver of an unintended lane change.
  • a warning signal can be issued from a speed of 70 km / h, in order to warn the driver of possible collisions or accident hazards that can occur due to an unintended lane change.
  • 1 shows an arrangement of sensors for scanning the road surface.
  • Fig. 2 the detection of a lane change on marked and unmarked lane.
  • the road recognition sensor elements 10a and 10b, 12a and 12b are installed, for example, as infrared sensor elements on the front and / or rear bumper 14, which cover both the road surface 22 and the roadside 20 at all four vehicle corners (VL, VR, VR). HL and HR).
  • the detected signals are related.
  • the road recognition sensors 10 and 12 each have two distinct emission characteristics with different angles of departure.
  • the first emission direction 16a / 16b lies on both sides transversely to the vehicle longitudinal direction, thus in the vehicle transverse direction and the second 18a / 18b in the vehicle longitudinal direction.
  • the beam with a smaller opening angle for scanning the roadway surface 22 is denoted by 18a or 18b
  • the beam with a larger opening angle for scanning the roadside is denoted by 16a or 16b in FIG.
  • infrared sensors detect light-reflecting objects in their immediate surroundings. They have in the simplest embodiment at least one transmitting diode, the light in the infrared Spectrum emits, and at least one receiver diode, which measures the intensity of the reflected light.
  • the two elements 10a / 10b and 12a / 12b form an infrared sensor 10 and 12, respectively.
  • the signal outputs of the elements 10a and 12a, 10b and 12b and 10a and 10b and 12a and 12b are led out to a computer unit in order to match the signals evaluate. It is envisaged that the individual elements are interconnected to compensated element group. Sensors are used for the mentioned vehicle peripheral monitoring, which scan or scan areas of the environment from 0.5 m to 150 m.
  • the regions to be scanned are determined, on the one hand, by the respective aperture angle of the respective transmitting diode of the infrared sensor element and, on the other hand, by the geometrical positioning of the infrared sensor elements relative to one another on the respective shock absorber. If radiation of the same intensity is applied to the two infrared sensor elements which are located at the front right corner, the resulting output signal of the element group is zero. By contrast, different radiation intensities on both sensitive infrared sensor elements lead to an output signal of the respective element group, which corresponds to the difference between the output signals of the individual sensor elements.
  • the vehicle is equipped with a radar scanner, which scans the edge development or edge planting and, according to the distance measurement, warns the driver when leaving the traffic lane.
  • a radar scanner which scans the edge development or edge planting and, according to the distance measurement, warns the driver when leaving the traffic lane.
  • the information of the imaging distance measurement via the radar scanner for example, combined with driving situation data of the vehicle, which are present in vehicle safety and / or driver assistance systems, and made plausible.
  • Vehicle safety systems can be described as Electronic Break System (EBS), Engine Management System (EMS), Antilock Braking System (ABS), Traction Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Traction Control System (TCS), Electronic brake force distribution (EBV) and / or engine drag torque control (MSR) are executed.
  • Driver assistance systems are implemented as electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but primarily the increase in ride comfort in the foreground. These systems partly autonomously or autonomously intervene in drive, control (eg gas, brake) or signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces.
  • driver assistance systems are, for example, parking aid (sensor arrays for obstacle and distance detection), brake assist (BAS), cruise control, adaptive cruise control (ACC), distance warning, turn assistant, traffic jam assistant, lane detection system, lane departure warning / lane departure assistance (lane departure warning). ), Lane keeping support), lane change assist, lane change support, Intelligent Speed Adaptation (ISA), adaptive cornering light, tire pressure monitoring system, driver condition detection, traffic sign recognition, platooning, automatic emergency braking (ANB), and dipped beam assist lights, night vision system.
  • parking aid sensor arrays for obstacle and distance detection
  • BAS brake assist
  • ACC adaptive cruise control
  • ACC adaptive cruise control
  • distance warning turn assistant
  • turn assistant traffic jam assistant
  • lane detection system lane departure warning / lane departure assistance (lane departure warning).
  • Lane keeping support Lane keeping support
  • lane change assist lane change support
  • Intelligent Speed Adaptation lane change support
  • ISA Intelligent Speed Adaptation
  • adaptive cornering light tire pressure monitoring system
  • driver condition detection traffic sign recognition
  • the signals for the yaw rate difference or the steering angle signals present in an ESP control unit are evaluated together with the imaging distance signals of the radar scanner and at above or below predetermined preset values by the additional evaluation of the distance signals obtained from the image recognition and The point of interest (POI) determined therefrom is checked and checked for plausibility between the desired lane and the actual lane of the vehicle.
  • POI point of interest

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

Dispositif permettant de détecter la bordure de la chaussée à l’aide de capteurs, comme des capteurs infrarouges, de systèmes optiques, comme une caméra ou d’un système de mesure de distance avec imagerie comme par exemple des radars ou des scanners laser, et permettant de détecter un changement de file en interprétant les signaux des capteurs d’aprés des éléments caractéristiques représentant la configuration superficielle de la chaussée et de la bordure de la chaussée.
PCT/EP2006/068066 2005-11-04 2006-11-03 Dispositif d’assistance pour conducteur lors de la conduite d’un véhicule WO2007051835A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102005052663.2 2005-11-04
DE102005052663 2005-11-04
DE102006050214A DE102006050214A1 (de) 2005-11-04 2006-10-25 Verfahren zum Unterstützen eines Fahrers beim Fahren mit einem Fahrzeug
DE102006050214.0 2006-10-25

Publications (1)

Publication Number Publication Date
WO2007051835A1 true WO2007051835A1 (fr) 2007-05-10

Family

ID=37682864

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/068066 WO2007051835A1 (fr) 2005-11-04 2006-11-03 Dispositif d’assistance pour conducteur lors de la conduite d’un véhicule

Country Status (2)

Country Link
DE (1) DE102006050214A1 (fr)
WO (1) WO2007051835A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110619758A (zh) * 2018-12-29 2019-12-27 长城汽车股份有限公司 自动驾驶车辆的车道选择方法、***及车辆
WO2021253245A1 (fr) * 2020-06-16 2021-12-23 华为技术有限公司 Procédé et dispositif d'identification de tendance au changement de voie d'un véhicule
CN116091250A (zh) * 2023-02-09 2023-05-09 中国人民健康保险股份有限公司深圳分公司 一种保险风控管理方法与***

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007050702A1 (de) * 2007-10-24 2009-04-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Bedieners einer Arbeitsmaschine
DE102008064645A1 (de) 2008-04-11 2010-04-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Fahrerassistenzanlage für Kraftfahrzeuge und Verfahren zum haptischen Warnen eines Fahrers eines Kraftfahrzeuges
DE102008018474B4 (de) 2008-04-11 2010-04-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Fahrassistenzanlage für Kraftfahrzeuge, Verfahren zum haptischen Warnen eines Fahrers eines Kraftfahrzeuges
CN102934150B (zh) 2010-06-08 2015-07-22 丰田自动车株式会社 行驶模型生成装置及驾驶辅助装置
DE102012208256A1 (de) 2012-05-16 2013-11-21 Continental Teves Ag & Co. Ohg Verfahren und System zum autonomen Nachführen eines Folgefahrzeugs auf der Spur eines Leitfahrzeugs
DE102012019235B4 (de) 2012-09-29 2023-05-04 Audi Ag Verfahren und Vorrichtung zur Querführung eines Fahrzeugs
DE102012023498A1 (de) 2012-12-03 2014-06-05 Continental Automotive Gmbh Verfahren und System zur selbsttätigen und/oder assistierenden Fahrzeugführung
DE102013201836A1 (de) 2013-02-05 2014-08-07 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Anwesenheitserkennung von Objekten in einer Fahrgastzelle eines Fahrzeugs
DE102013220430A1 (de) 2013-10-10 2015-04-16 Continental Teves Ag & Co. Ohg Verfahren und System zur Identifizierung einer Gefahrensituation sowie Verwendung des Systems
DE102016214027A1 (de) 2016-07-29 2018-02-01 Volkswagen Aktiengesellschaft Verfahren und System zum Erfassen von Landmarken in einem Verkehrsumfeld einer mobilen Einheit
KR102448164B1 (ko) * 2018-07-20 2022-09-28 현대모비스 주식회사 차량용 레이더 제어 장치 및 방법

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0049722A1 (fr) * 1980-10-09 1982-04-21 Claude Fricot Dispositif indicateur de changement de trajectoire
EP1046568A2 (fr) * 1999-04-22 2000-10-25 Matsushita Electric Industrial Co., Ltd. Dispositif de détection pour détecter les mouvements d'un véhicule utilisant des marquages de routes
US20050039960A1 (en) * 2001-03-08 2005-02-24 Jean-Christophe Riat Device for detecting a running surface for vehicle and vehicle using same

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0049722A1 (fr) * 1980-10-09 1982-04-21 Claude Fricot Dispositif indicateur de changement de trajectoire
EP1046568A2 (fr) * 1999-04-22 2000-10-25 Matsushita Electric Industrial Co., Ltd. Dispositif de détection pour détecter les mouvements d'un véhicule utilisant des marquages de routes
US20050039960A1 (en) * 2001-03-08 2005-02-24 Jean-Christophe Riat Device for detecting a running surface for vehicle and vehicle using same

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110619758A (zh) * 2018-12-29 2019-12-27 长城汽车股份有限公司 自动驾驶车辆的车道选择方法、***及车辆
WO2021253245A1 (fr) * 2020-06-16 2021-12-23 华为技术有限公司 Procédé et dispositif d'identification de tendance au changement de voie d'un véhicule
CN116091250A (zh) * 2023-02-09 2023-05-09 中国人民健康保险股份有限公司深圳分公司 一种保险风控管理方法与***
CN116091250B (zh) * 2023-02-09 2023-12-15 中国人民健康保险股份有限公司深圳分公司 一种保险风控管理方法与***

Also Published As

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