WO2022073882A1 - VERFAHREN UND STEUEREINRICHTUNG ZUM ERMITTELN EINER KOLLISIONSRELEVANTEN ZEITGRÖßE FÜR EIN KRAFTFAHRZEUG - Google Patents
VERFAHREN UND STEUEREINRICHTUNG ZUM ERMITTELN EINER KOLLISIONSRELEVANTEN ZEITGRÖßE FÜR EIN KRAFTFAHRZEUG Download PDFInfo
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- WO2022073882A1 WO2022073882A1 PCT/EP2021/077146 EP2021077146W WO2022073882A1 WO 2022073882 A1 WO2022073882 A1 WO 2022073882A1 EP 2021077146 W EP2021077146 W EP 2021077146W WO 2022073882 A1 WO2022073882 A1 WO 2022073882A1
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- host vehicle
- determined
- location area
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- time
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 230000001419 dependent effect Effects 0.000 claims abstract description 6
- 230000006870 function Effects 0.000 description 12
- 238000004891 communication Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 7
- XDDAORKBJWWYJS-UHFFFAOYSA-N glyphosate Chemical compound OC(=O)CNCP(O)(O)=O XDDAORKBJWWYJS-UHFFFAOYSA-N 0.000 description 6
- 230000003068 static effect Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 230000003542 behavioural effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000021317 sensory perception Effects 0.000 description 1
Classifications
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- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2554/806—Relative heading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Definitions
- the invention relates to a control device and a method for determining a time variable, the time variable describing a possible collision of a host vehicle with at least one other object.
- ego vehicle is understood to mean a vehicle (in particular a motor vehicle and also in particular a passenger car or a truck) to which the measures described herein are applied or for which the collision-relevant time variable is determined. This is to be distinguished from other vehicles in the vicinity of the ego vehicle, with which collisions and, in particular, rear-end collisions are to be avoided. These vehicles are examples of objects depicted herein.
- the host vehicle can, for example, comprise the control device described herein.
- calculation methods are analytical and/or numerical and can also require integral calculations or iterative solution approaches, which correspondingly increases the complexity of the calculation.
- two-dimensional (and/or geometric) considerations should preferably be used as a basis or that possible collisions should be evaluated on the basis of corresponding two-dimensional considerations.
- whereabouts of the host vehicle for example, a current whereabouts or also a future whereabouts, which can be modeled as a two-dimensional driving corridor or braking corridor, for example
- environment model or environmental model
- the variables required for collision considerations are at least partially obtained from an environment model containing potentially more suitable information derived.
- the environment model can contain content and/or information that goes beyond pure (individual) sensor measurement values due to numerous underlying data sources.
- two-dimensional residence areas these can be defined by a plurality of locations that lie in the residence area and/or delimit it. It is therefore not absolutely necessary to calculate or define complete areas. Instead, a plurality of individual points and, in particular, their two-dimensional coordinates can also be used, which are distributed two-dimensionally and, for example, delimit or span the location area.
- a preferred variant provides for the location area to be described by at least two points or locations, for which at least two-dimensional coordinates are determined in each case. In principle, however, the present solution can also be used for three-dimensional observations, for example by determining corresponding three-dimensional residence areas.
- a method for determining a time variable (in particular a TTX time variable and/or a behavioral safety metric) is proposed, the time variable describing a possible collision of a host vehicle with at least one other object.
- the method preferably has:
- the location area is preferably determined using an environment model of the host vehicle or, in other words, derived from the environment model and/or is in the environment model defined.
- environment model of the host vehicle or, in other words, derived from the environment model and/or is in the environment model defined.
- all other considerations, calculations and determinations described herein can also be carried out taking into account and/or on the basis of the environment model. This applies in particular to the determination of movement variables, in particular for vehicles other than the ego vehicle, and/or the extent or extent of expected residence areas, in particular braking or driving corridors. All distances or other variables required for assessing the risk of collision can also be derived from the environment model and correspondingly not necessarily direct (individual) sensor measurement values.
- the movement quantity can in particular be a relative speed between the host vehicle and the object. It can be determined using sensors of the host vehicle. For example, this can be used to determine the speed of objects in the area and in particular of other vehicles located therein by means of surroundings sensors and in particular distance sensors.
- the host vehicle can, for example, determine its own location coordinates in the (preferably at least two-dimensional) environment model. For example, knowing the dimensions of the host vehicle, its outlines can be at least roughly approximated, for example its outline in a horizontal plane. In general, any two-dimensional variables and/or areas described herein can be determined in a corresponding horizontal plane, which runs parallel to a (plane) vehicle underground, for example.
- the possible location area can in particular be a possible future location area, which is determined, for example, based on an expected trajectory, an expected braking behavior or an expected driving behavior of the host vehicle.
- a movement variable of the object can be detected by environment sensors of the host vehicle as a possible future location area for the object.
- an expected driving corridor of the object can be calculated and/or modeled preferably two-dimensionally as a possible location area, for example if the driving direction and/or speed of the object have been recorded.
- the object can also transmit relevant variables to the host vehicle by means of a communication link.
- the host vehicle can have its own dimensions (in particular to define its current area of residence) or at least one motion variable (e.g. to define a possible future location area) to the host vehicle.
- V2X Vehicle-to-X
- the time variable is determined on the basis of a distance and in particular a minimum distance between the location area and the corresponding other of the host vehicle and the object. For example, based on the distance, the amount of time can be determined until the corresponding other of the ego vehicle and the object enters the location area. In general, provision can also be made for preferably two-dimensional location areas to be determined both for the host vehicle and for the object. It can then also be determined when the residence areas overlap or what time remains until a corresponding overlapping, which can mean a collision. This can also be done on the basis of the environment model or information modeled thereby.
- the time variable is determined on the basis of a quotient of the preferably minimum distance and the movement variable (more precisely, the minimum distance divided by the movement variable).
- the movement variable is preferably the already mentioned relative speed between the host vehicle and the object.
- any of the variants mentioned below which are known per se from the prior art but are determined there by means of disadvantageous and complex calculation methods, can generally be determined as the time variable. It goes without saying that, according to the invention, a plurality of different time variables can also be determined using the determined movement variable and/or the at least one location area. In general, any time variables mentioned herein can be used to control and/or selectively trigger driver assistance functions (in particular an emergency braking function).
- TTC Time To Collision
- TTB Time To Break
- TTS Time To Steer
- TTK Time To Kickdown
- TTD Time To Disappear
- the current location area of the host vehicle is determined as the location area, taking into account the dimensions of the host vehicle (for example on the basis of or in the environment model).
- the distance and preferably minimum distance of this location area which preferably corresponds to a geometric shape and/or a geometric and at least two-dimensional extension of the host vehicle (eg includes its base area), can then be determined from the object.
- the current location area is preferably also determined for the object (for example using dimensions communicated by the object and/or dimensions detected by sensors). It goes without saying that any distance considerations explained herein are also based on the environment model and/or can be derived from it.
- a braking corridor of the host vehicle is determined as a possible location area (preferably again in or on the basis of the environment model), with the braking corridor preferably being determined on the basis of an (expected) Braking distance of the host vehicle is determined.
- the braking corridor can be that area and/or include that area through which the vehicle travels, for example, until it comes to a complete standstill and/or until the braking process is completed. It can therefore be an area extending in the direction of travel of the vehicle, the size of which (in particular the extent in the direction of travel) is determined on the basis of the expected braking behavior of the host vehicle. This braking behavior can be described, for example, by the expected braking distance. This can be determined as the resulting braking distance from a current speed of the host vehicle and a maximum possible deceleration.
- the time quantity can be zero if an object is located directly within the braking corridor (i.e. braking is then required immediately and/or already too late). Accordingly, it can be continuously checked whether an object enters the braking corridor (e.g. using distance sensors of the host vehicle) and an emergency braking function can then preferably be activated automatically due to a too small time value (e.g. with the value zero).
- the variant below relates in particular to determining the time variable as a time-to-steer:
- at least one turning circle of the Ego vehicle determined.
- Two turning circles of the host vehicle are preferably determined. These can result from the ego vehicle being steered to the left or steered to the right, since the vehicle can turn in both steering directions or steering angles.
- These areas can in turn be modeled in the environment model and, for example, be compared with an expected movement behavior and/or area of other vehicles that is also modeled there.
- a movement corridor of the object is determined as a possible location area (for example in or on the basis of the environment model).
- the above-mentioned time-to-collision can first be determined as a time variable, in particular on the basis of the procedure described here. It can then be determined which position the host vehicle can reach within this time-to-collision if it carries out a predetermined evasive maneuver (in particular the kickdown described). This position can then be used to determine a distance to the described location of the object. All of these considerations can also be modeled in the environment model and/or derived from it.
- the two-dimensional area that encompasses an expected route or an expected movement of the object can generally be defined as a movement corridor.
- a movement corridor For this purpose, for example, a current driving direction and/or driving speed of the object can be used and/or the movement corridor can be determined on the basis of an extrapolation of the current location area of the object in its driving direction.
- a movement corridor (or driving corridor) of the host vehicle is determined as a possible location area and a current location area of the object is also determined and the The amount of time is determined as a function of a distance between the two residence areas. All of these sizes can derived from the environment model and/or modeled therein. In this case, either a minimum distance until the object enters the movement corridor (for time-to-enter) or a maximum distance that the object has to cover to exit is determined based on the distance between the occupied areas and preferably a relative speed as a movement variable step out of the movement corridor (for time-to-disappear). For this purpose, assumptions about the driving direction of the object can be made and/or this can be detected by sensors or by vehicle communication. This respective distance can then in turn be offset against the movement variable (preferably by forming a quotient) in order to determine the respective time variable.
- the invention thus also relates to a control device for a motor vehicle (in particular any ego vehicle described herein), the control device being set up to carry out a method according to any of the aspects described herein.
- control device can have at least one processor device and/or one memory device.
- Program instructions can be stored in the memory device which, when executed by the processor device, cause the control device to carry out and/or provide any method measures or method steps described herein.
- the control device can be set up via communication links for communicating with any of the sensors described herein or with a vehicle in the vicinity. Communications with the traffic infrastructure are also possible, for example if this is set up to transmit information about vehicles in the vicinity of the host vehicle.
- the control device can generally be a control unit.
- the control device can generally be set up to check whether any time variable determined therein meets a predetermined collision criterion, and if this is the case, the control device is preferably set up to take a predetermined countermeasure. This can, for example, include activating and/or executing a driver assistance function, in particular an emergency braking function. Exemplary embodiments of the invention are explained below with reference to the following figures. The same reference symbols can be used across the figures for features that are of the same type or have the same effect.
- 1 shows a schematic method principle for determining a time-to-collision.
- FIG. 2 shows a schematic method principle for determining a time-to-break.
- FIG. 3 shows a schematic method principle for determining a time to steer.
- FIG. 4 shows a schematic method principle for determining a time-to-kickdown.
- Fig. 5 shows a schematic method principle for determining a time-to-enter
- the views each correspond to top views of the host vehicle 10 and also an object 18 in its vicinity. Accordingly, the roadway is viewed from above onto a horizontal spatial plane, in which the residence areas 20 considered here and/or general movement variables and positions are also determined. Furthermore, these views reproduce information that is stored in an environment model of the host vehicle 10 and/or can be derived therefrom.
- This environment model can generally be created from a total of available information, which can only partially be detected by sensors or at least by means of various types of sensor devices. Known approaches from the prior art can be used for this purpose.
- sensor readings can first be fed into an environment model, in order to create and/or update this, any quantities, areas and/or distances considered herein can then be derived from the environment model.
- FIG. 1 shows a host vehicle 10 which includes a control device 12 indicated schematically.
- the control device 12 is connected to at least one environment sensor 14 and to at least one communication device 16 .
- any properties of objects in the environment described herein can be detected, for example their dimensions and/or directions of movement or speeds of movement.
- such information can be sent from the objects 18 (in particular if they are vehicles themselves) to the communication device 16 .
- other units eg an intelligent traffic infrastructure
- the control unit 12 is generally set up to carry out any of the calculations or determinations described below, for example using an environment model of the host vehicle 10 generated from various data sources (in particular various sensor devices) and/or sensor measurements. It is also set up to determine using the time variables whether a driver assistance function and in particular an emergency braking function is to be activated.
- the ego vehicles 10 shown there can be designed in the same way as the variant from FIG. 1 and preferably have a control unit 12 with an analog range of functions.
- the current location areas 20 represent outlines of the vehicles 10, 18, these being schematically simplified (i.e. only roughly approximating an actual outer contour of the vehicles 10, 18).
- the residence areas 20 are defined or spanned by a number of points marked 1 to 8. Two-dimensional coordinates are determined for each of these points.
- the residence areas 20 are therefore a data set or a set of two-dimensional coordinate values of the points 1 to 8, the number of which is merely an example.
- the coordinate values and thus location areas 20 can be derived from the environment model of the host vehicle 10 and cannot be directly measured by sensors.
- the point coordinates are determined in a coordinate system of an environment model of host vehicle 10, which is not shown separately.
- the host vehicle 10 in particular its control unit 12
- the coordinates of points 1 to 8 in the environment model can be determined by vehicle 18 driving ahead on the basis of information transmitted to communication device 16 of host vehicle 10 or using measured values from environment sensors of host vehicle 10 (for example at least the coordinates of points 4 to 8).
- a distance, and more precisely a minimum distance, is then determined between these residence areas 20, whereupon the environment model or the coordinate values defined therein are in turn accessed. More precisely, for each of points 1 to 8 of host vehicle 10, the distances to points 1 to 8 or generally any known points of location area 20 of preceding vehicle 18 are determined. From the plurality of distance values determined in this way, the minimum distance value is selected, which corresponds, for example, to the distance from point 1 of host vehicle 10 (or its location area 20) to point 7 of vehicle 18 driving ahead (or its location area 20).
- This minimum distance is then divided by a relative speed of the host vehicle 10 and the vehicle 18 driving ahead.
- This relative speed represents an example of a movement variable considered here.
- the control unit 12 can determine the speed of the host vehicle 10 e.g.
- Equation 1 The described quotient of minimum distance and relative speed results in the time-to-collision as a determined time variable. This can be expressed by Equation 1 below, the two objects mentioned therein being the host vehicle 10 and the vehicle 18 driving ahead:
- the location area 20 again shows the host vehicle 10 and its possible braking corridor 23 is shown as the location area 20 .
- the control unit 12 can also determine a current speed of the host vehicle 10 and its direction of travel. Based on previously determined braking parameters (in particular a maximum possible deceleration) and knowing, for example, a width dimension B of the host vehicle 10, the two-dimensional braking corridor 23 shown can then be determined as a corresponding possible future location area 20. This definition can in turn be made in or on the basis of an environment model, with the location area 20 being able to contain a corresponding set of coordinates of the environment model.
- This location area 20 is described purely by way of example by three individual points at its front border, which are distributed along the width dimension B of the host vehicle 10 or the analogous dimension of the location area 20 .
- Two-dimensional coordinates can in turn be determined for these points marked 1 to 3.
- the minimum distance is again preferably determined in this case.
- the time-to-break is obtained by forming the quotient for the relative speed of ego vehicle 10 and the corresponding object 18 in the environment.
- Equations 2 and 3 the maximum braking acceleration a of a vehicle results from the product of a coefficient of static friction p and the gravitational acceleration G.
- the braking corridor described is therefore 23 as
- the determination of the time-to-steer variable is described with reference to FIG. 3 .
- This generally indicates the maximum period of time or the last point in time in which a vehicle can avoid a collision by evading, preferably with the maximum steering angle.
- it is proposed to determine turning circles (at least one) 22 as possible two-dimensional locations 20 of the host vehicle 10 in and/or on the basis of the environment model. These turning circles are entered in FIG.
- the upper relates to a turning circle 22 when steering in the left direction.
- the lower one is a turning circle 22 when steering in the right direction.
- the turning circles 22 and more precisely their radius are preferably determined as a function of the speed and/or as a function of an existing static friction.
- any approach known in the prior art and, in particular, an estimation method can be selected for determining the static friction, or a constant value can be stored for this purpose.
- the turning circles 22 are positioned relative to the host vehicle 10 depending on the axle geometry or the chassis construction.
- the coordinates of the centers M of the tropics 22 are determined, for example in the environment model. As explained above, these are fixed in a defined manner relative to host vehicle 10 for structural reasons (e.g. along its front axle and at a distance dependent on radius r m , for example from a curve-outside wheel of host vehicle 10 on the front axle). The minimum distance between each of the circle centers M and an object 18 in the vicinity, not shown in FIG. 2, is then determined.
- a location area 20 can be defined around a vehicle 18 driving ahead, and the distances of a respective center point M of a circle to the individual locations 1 to 8 of this location area 20 can be calculated. From this distance, the circle radius r m in is subtracted to obtain the distance between the outer circumference of each turning circle 22 and the object 18.
- the object 18 is already in one of the turning circles 22 and avoidance is no longer possible or only by steering in the other direction or according to the turning circle 22 without object 18. If two turning circles 22 are considered, corresponding minimum distances are determined for both of the turning circles 22 and the larger of these minimum distances is then used for the TTS time variable.
- the background is that the evasive maneuver that is more suitable from the driver's point of view (because of the even longer remaining time) should be preferred.
- the explained distances between a current location area 20 of a vehicle, which is usually modeled as a rectangle, and a turning circle (i.e. generally between a rectangle and a circle) can be determined particularly precisely using so-called clamping methods or max-min functions.
- Equation 5 For calculating the TTS time magnitude, the following Equation 5 can be used:
- a third-party vehicle 18 is shown, for which a two-dimensional location area 20 is determined in the sense of a movement or driving corridor 21, preferably as a set of coordinates in an environment model. For this purpose, dimensions, driving direction and/or driving speed of the vehicle 18 can be communicated again and/or recorded.
- the host vehicle 10 is shown in a left starting position as well as in a future right position 10′, which it can reach with abrupt maximum acceleration (kickdown by the driver).
- the TTC time is available for this evasive maneuver, which can be determined analogously to the variant of FIG. 1 . From this time and the maximum possible acceleration of the host vehicle 10, which is e.g. constructively specified and known, the maximum future position 10' that can be reached within the framework of the TTC can be determined. More precisely, the maximum travel distance S that can be covered within the TTC can be determined at maximum acceleration.
- a distance A' can be determined, which is present between the movement corridor 21 and the host vehicle 10 at its future position 10'.
- This distance A' represents the minimum distance between the movement corridor 21 and the host vehicle 10 at the future position 10'.
- the TTK time variable can be determined according to Equation 6 below:
- An ego vehicle 10 and its possible movement corridor 21 are shown as its possible two-dimensional location area 20 , which in turn is defined as a set of coordinates in an environment model of the ego vehicle 10 .
- Two different scenarios are also shown, namely another vehicle 18 that is driving in the direction of movement corridor 21 (see travel direction arrow F).
- a vehicle 18 is shown on the right, which is still in the movement corridor 21 but is in the process of leaving it.
- Current residence areas 20 are determined for both of these vehicles 18 analogously to the variant from FIG. 1 . Distances between these residence areas 20 and the movement corridor 21 are then also determined again, it being possible to fall back on point coordinates of the residence areas 20 analogously to FIG. 1 .
- the relevant time variables can then be determined as follows:
- the ego travel corridor corresponds to the movement corridor 21.
- the speed of this ego travel corridor relative to the obstacle vehicle is to be understood as meaning a relative speed at which the ego travel corridor moves towards or away from the intruding or exiting vehicle 18.
- the ego driving corridor can also be regarded as infinite in the direction of travel. This emphasizes that the relative speed changes relative to the vehicles 18 only in the case of corresponding cornering or deflections.
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Abstract
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Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2023521669A JP2023545783A (ja) | 2020-10-08 | 2021-10-01 | 自動車用の衝突関連の時間変数を算出する方法および制御装置 |
EP21786462.8A EP4225622A1 (de) | 2020-10-08 | 2021-10-01 | VERFAHREN UND STEUEREINRICHTUNG ZUM ERMITTELN EINER KOLLISIONSRELEVANTEN ZEITGRÖßE FÜR EIN KRAFTFAHRZEUG |
KR1020237015415A KR20230078811A (ko) | 2020-10-08 | 2021-10-01 | 자동차를 위한 충돌 관련 시간 변수를 결정하기 위한 방법 및 제어 장치 |
US18/247,910 US20240034310A1 (en) | 2020-10-08 | 2021-10-01 | Method and control device for determining a collision-relevant time variable for a motor vehicle |
CN202180068312.4A CN116323354A (zh) | 2020-10-08 | 2021-10-01 | 用于确定用于机动车的碰撞相关的时间参量的方法和控制设备 |
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DE102020212689 | 2020-10-08 | ||
DE102020212689.5 | 2020-10-08 |
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PCT/EP2021/077146 WO2022073882A1 (de) | 2020-10-08 | 2021-10-01 | VERFAHREN UND STEUEREINRICHTUNG ZUM ERMITTELN EINER KOLLISIONSRELEVANTEN ZEITGRÖßE FÜR EIN KRAFTFAHRZEUG |
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US (1) | US20240034310A1 (de) |
EP (1) | EP4225622A1 (de) |
JP (1) | JP2023545783A (de) |
KR (1) | KR20230078811A (de) |
CN (1) | CN116323354A (de) |
WO (1) | WO2022073882A1 (de) |
Citations (10)
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EP1387183A1 (de) * | 2002-08-02 | 2004-02-04 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ermittlung des Bevorstehens einer unausweichbaren Kollision |
DE102007007640A1 (de) * | 2007-02-16 | 2007-11-29 | Daimlerchrysler Ag | Verfahren zur Erkennung von unfallkritischen Situationen und Kollisionsvermeidungssystem, in dem das Verfahren angewendet wird |
DE102010002105A1 (de) * | 2010-02-18 | 2011-08-18 | Robert Bosch GmbH, 70469 | Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs bei einem Fahrmanöver |
DE102012111846A1 (de) * | 2011-12-05 | 2013-06-06 | Dekra Automobil Gmbh | Kollisionsschutzverfahren und Kollisionsschutzsystem |
DE102013015028A1 (de) * | 2013-09-10 | 2015-03-12 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeuges |
DE102014219148A1 (de) * | 2014-09-23 | 2016-03-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erstellen eines Bewegungsmodells eines Straßenverkehrsteilnehmers |
DE102014016815A1 (de) * | 2014-11-14 | 2016-05-19 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeuges |
DE102016109856A1 (de) * | 2016-05-30 | 2017-11-30 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Vermeidung einer Kollision eines Kraftfahrzeugs mit einem Objekt auf Grundlage eines maximal vorgebbaren Radlenkwinkels, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102017114876A1 (de) * | 2017-07-04 | 2019-01-10 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Fahrerassistenzsystem zur Kollisionsvermeidung mittels Warn- und Interventionskaskade |
DE102018119834A1 (de) * | 2018-08-15 | 2020-02-20 | Robert Bosch Gmbh | Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges |
-
2021
- 2021-10-01 JP JP2023521669A patent/JP2023545783A/ja not_active Withdrawn
- 2021-10-01 KR KR1020237015415A patent/KR20230078811A/ko unknown
- 2021-10-01 CN CN202180068312.4A patent/CN116323354A/zh active Pending
- 2021-10-01 WO PCT/EP2021/077146 patent/WO2022073882A1/de unknown
- 2021-10-01 EP EP21786462.8A patent/EP4225622A1/de not_active Withdrawn
- 2021-10-01 US US18/247,910 patent/US20240034310A1/en active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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EP1387183A1 (de) * | 2002-08-02 | 2004-02-04 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ermittlung des Bevorstehens einer unausweichbaren Kollision |
DE102007007640A1 (de) * | 2007-02-16 | 2007-11-29 | Daimlerchrysler Ag | Verfahren zur Erkennung von unfallkritischen Situationen und Kollisionsvermeidungssystem, in dem das Verfahren angewendet wird |
DE102010002105A1 (de) * | 2010-02-18 | 2011-08-18 | Robert Bosch GmbH, 70469 | Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs bei einem Fahrmanöver |
DE102012111846A1 (de) * | 2011-12-05 | 2013-06-06 | Dekra Automobil Gmbh | Kollisionsschutzverfahren und Kollisionsschutzsystem |
DE102013015028A1 (de) * | 2013-09-10 | 2015-03-12 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeuges |
DE102014219148A1 (de) * | 2014-09-23 | 2016-03-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erstellen eines Bewegungsmodells eines Straßenverkehrsteilnehmers |
DE102014016815A1 (de) * | 2014-11-14 | 2016-05-19 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeuges |
DE102016109856A1 (de) * | 2016-05-30 | 2017-11-30 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Vermeidung einer Kollision eines Kraftfahrzeugs mit einem Objekt auf Grundlage eines maximal vorgebbaren Radlenkwinkels, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102017114876A1 (de) * | 2017-07-04 | 2019-01-10 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Fahrerassistenzsystem zur Kollisionsvermeidung mittels Warn- und Interventionskaskade |
DE102018119834A1 (de) * | 2018-08-15 | 2020-02-20 | Robert Bosch Gmbh | Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges |
Also Published As
Publication number | Publication date |
---|---|
CN116323354A (zh) | 2023-06-23 |
JP2023545783A (ja) | 2023-10-31 |
EP4225622A1 (de) | 2023-08-16 |
KR20230078811A (ko) | 2023-06-02 |
US20240034310A1 (en) | 2024-02-01 |
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