DE102013205147A1 - Method for monitoring lateral region of vehicle i.e. passenger car, involves alerting warning signal to driver to stop vehicle based on recognition of moving objects, and adjusting delay time for warning signal based on dynamic variable - Google Patents

Abstract

The method involves detecting a lateral region (22) of a vehicle (20), and recognizing moving objects (30) i.e. motorcyclists, in the lateral region of the vehicle on a potential collision path with a processing unit. A driving dynamic variable of the vehicle is set after the recognition of the moving objects. A warning signal is alerted to a driver to stop the vehicle based on the recognition of the moving objects. A delay time for the warning signal is adjusted based on the driving dynamic variable. The warning signal is alerted in optical, acoustic and/or haptic form. Independent claims are also included for the following: (1) a driver assistance system for monitoring lateral region of a vehicle (2) a control device for monitoring a lateral region of a vehicle.

Description

The invention relates to a method, a control device and a driver assistance system for monitoring a lateral region of a vehicle.

State of the art

In Scripture DE 10 2011 077 997 A1 A method and system for accelerated object detection is shown wherein information about a set turn signal of a first vehicle is sent via vehicle-to-X communication to another vehicle. The other vehicle receiving the vehicle-to-X communication reduces the threshold of an object attribute detection algorithm to more quickly detect the upcoming lane change of the first vehicle.

From the Scriptures DE 43 13 568 C1 For example, a method for guiding a lane change by a motor vehicle is known, which is activated by actuation of a direction indicator lever. After activating the method, the driver of the vehicle is supported by vehicle-based detectors in the gap search for a lane change and the driver is possibly signaled the possible lane change.

Disclosure of the invention

The method, the control unit and the driver assistance system for monitoring a lateral area of a vehicle detects an environment to the side of the vehicle and detects first moving objects in this environment. Furthermore, second moving objects are detected which are in a potential collision course with the vehicle and originate from the set of the first moving objects. In addition, at least one vehicle dynamic size of the vehicle is detected. According to the invention, after the detection of the second moving objects, an action for warning the driver and / or an action for braking the vehicle is performed and a delay time for the action is set as a function of the at least one vehicle dynamic variable of the vehicle.

The advantage is that the response time of the page warning system is set for the action to be performed depending on the situation. The reliability of the system increases over today's systems, which have a fixed timing between detection and warning, since the reaction time of the system is significantly reduced. The side warning system thus generates the driver both objectively and subjectively a higher sense of security.

In a further development, the warning is carried out in an optical and / or acoustic and / or haptic form.

As driving dynamics parameters of the vehicle, a turn signal status, a steering movement and a speed of the vehicle are detected.

In a further refinement, the differential speed between the second moving objects and the vehicle is detected as the vehicle-dynamic variable of the vehicle.

The advantage here is that you are warned of floating objects at a similar speed as your own vehicle early.

In a further development, in addition to the vehicle-dynamic size of the vehicle, a distance between the at least one detected second moving object and the vehicle is detected and the delay time for the action is set as a function of the distance.

The advantage here is that with a small distance between the vehicle and floating objects is warned faster.

Further advantages will become apparent from the embodiments and the drawings described.

Brief description of the drawings

The present invention will be explained below with reference to preferred embodiments and accompanying drawings. Show it

1 a driving situation in which a method for monitoring a lateral area of a vehicle is performed and

2 a driver assistance system for monitoring a lateral area of the vehicle and

3 a method for monitoring a lateral area of the vehicle.

Embodiments of the invention

1 shows a plan view of a typical driving situation in which a moving object 30 laterally next to a vehicle 20 located. The driver of the vehicle 20 In his usual seating position visible area includes an area 26 which gives the field of vision of the view through the windshield 27 of the vehicle 20 forms and an area 25 which gives the field of vision of the look in the exterior mirror 24 forms. With the reference numeral 28 is the limit of the field of vision of the look through the windshield 27 designated. In an ordinary passenger car, the field of vision still visible to the driver in his usual sitting position is still visible 31 of looking into a rearview mirror. Is it the vehicle 20 For example, around a closed delivery van, there is generally no such rearview mirror. The dead angle 29 of the vehicle 20 is an area occupied by the driver in his normal sitting position by looking through the windshield 27 and by looking in the outside mirror 24 is not detectable. A section of this blind spot 29 forms the lateral area 22 of the vehicle 20 , Therefore, the vehicle points 20 an environment detection device 21 on, which is arranged so that their coverage area 23 at least this lateral area 22 detected. The coverage area 23 the environment detection device 21 is thus oriented so that it has at least a portion of the blind spot 29 covering, namely the critical area of the side of the vehicle 20 , which is not visible to the driver.

In one embodiment, the environment detection device 21 from at least one camera. The camera has an opening angle that is at least the lateral area 22 detected. In another embodiment, the camera has a fish-eye optics, so that a detection angle of up to 180 ° can be covered. A moving object 30 Here, for example, a motorcyclist is in the detection area 23 the camera. By evaluating the camera images, it is determined that the moving object 30 side of the vehicle 20 located. The driving trajectories of the vehicle 20 and the detected moving object 30 are determined by means of camera algorithms, rotation rate information, etc., which are known to the person skilled in the art and are not explained in more detail. It also detects whether the detected moving object 30 and the vehicle 20 on a potential collision course. The potential collision course is, for example, by changing the driving trajectory of the vehicle 20 or the detected moving object 30 determined. The change of the driving trajectory of the vehicle 20 can z. B. by detecting the steering movement of the vehicle 20 respectively. A change in the driving trajectory of the detected moving object 30 can with the help of the camera system in the vehicle 20 be determined. Also, a potential collision course may be due to a potential change in the driving trajectory by setting the turn signal of the vehicle 20 be recognized.

In a further embodiment, the environment detection device 21 from at least one ultrasonic sensor. The coverage area 23 is limited by the range of the ultrasonic sensors. Preferably, however, the surveillance area extends over at least 3 m.

2 shows a control unit 3 , the data of an environment detection device 21 detected, wherein the environment detection device 21 for example, on the outside of the vehicle behind the driver and in front of the rear bumper is mounted. The control unit 3 has a processing unit 16 on, the moving objects 30 detected in the detected environment. For this purpose, the captured image data of the camera or the detected ultrasonic signals are evaluated. Also, in the processing unit 16 the driving trajectory of the vehicle 20 , as well as the driving trajectory of the detected moving objects 30 certainly. Furthermore, the processing unit recognizes 16 the detected moving objects 30 that are on a potential collision course with the vehicle. The processing unit processes this 16 Information about a driving trajectory change of the vehicle 20 , a potential driving trajectory change of the vehicle 20 by evaluating the turn signal status or a driving trajectory change of the detected moving objects 30 , The processing unit 16 of the control unit 2 is also at least one vehicle dynamic size of the vehicle 20 to disposal. This at least one dynamic driving variable is using a steering angle sensor 13 detected, wherein the steering angle sensor 13 a steering movement of the vehicle 20 detected, or with the help of a speed sensor 14 detected, the speed sensor 14 the speed of the vehicle 20 recorded or by means of an agent 15 recorded, the means 15 the turn signal status of the vehicle 20 detected. In the processing unit 16 , which may be a microcontroller, for example, the detected and recognized variables are stored and evaluated. In addition, in the control unit 3 set a delay time for an action. The action may include, for example, a warning to the driver. The warning can be by means of an optical signal, for example on an output medium 18 , z. B. display in the vehicle 20 , are displayed. The warning can also be heard acoustically via the speakers of the vehicle 20 be passed on to the driver. The warning can also be generated in the form of a haptic signal, wherein, for example, the steering wheel vibrates at short intervals.

In a further embodiment, the action by means of control of the brake unit 19 a braking intervention in the vehicle 20 carry out. For example, the speed of the vehicle 20 reduced if the driver has not responded to the warnings and vehicle 20 and the recognized moving object 30 still on a collision course. The braking intervention can also be an emergency braking when a collision with the detected moving object 30 imminent.

3 shows a method for monitoring a lateral area 22 of a vehicle 20 , In step 100 the process is accomplished by detecting an environment 22 started laterally next to the vehicle. In a next step 110 become moving objects 30 in the of step 100 captured environment 22 detected. Become in step 110 no moving objects 30 detected, the method starts with step 100 again or will be finished. In a following step 115 become the driving trajectories of the vehicle 20 and the detected moving objects 30 For example, using not shown camera information, rotation rate information, etc. determined. In a following step 120 become the moving objects 30 recognized, dealing with the vehicle 20 on a potential collision course. The potential collision course is, for example, by changing the driving trajectory of the vehicle 20 , by flashing the vehicle 20 , a steering movement of the vehicle 20 or by changing the driving trajectory of the moving object 30 certainly. Become in step 120 no moving objects 30 recognized, dealing with the vehicle 20 on a potential collision course, the method starts with step 100 again or will be finished. In a further step 130 will be at least one vehicle dynamic size of the vehicle 20 with the help of means 13 . 14 . 15 detected. Will in step 130 If no dynamic value is detected, the method starts with step 100 again or will be finished. The driving dynamics of the vehicle 20 For example, the turn signal status of the vehicle 20 be. In another embodiment, the dynamic driving variable is the steering movement of the vehicle 20 , In a further embodiment, the dynamic driving quantity represents the speed of the vehicle 20 However, the dynamic driving variable can also be the differential speed between the at least one detected moving object 30 and the vehicle 20 be.

In an optional step, step by step 130 follows, the distance between the at least one detected moving object 30 and the vehicle 20 in addition to the driving dynamics of the vehicle 20 be determined.

In a following step 140 becomes an action to warn the driver and / or to brake the vehicle 20 performed, wherein the delay time between detection of the at least one moving object 30 and the triggering of the action depending on the driving dynamics variables and / or as a function of the distance between the vehicle 20 and detected moving object 30 is set.

Since the delay time is set as a function of the driving dynamics variables and / or the distance, it is adjustable depending on the situation. If a driver sets the turn signal, the delay time must be shortened, as a lane change is imminent. For example, the factory-set delay value, approximately 1000 ms, is halved, or the delay time is set to a value of either 100 ms, 200 ms, 300 ms, 400 ms, or 500 ms, and is thus less than the factory-set delay value.

In a further embodiment, the delay time may depend on the distance between the detected moving objects 30 and the vehicle 20 be set. At a large distance, z. B. about 3 m, the delay time can be set to a higher value of about 1000 ms, since a collision is not imminent due to the relatively large distance at a lane change. At a small distance of, for example, 70 cm between the detected moving object 30 and vehicle 20 For example, the delay time is set to a lower value of, for example, 250 ms because a collision is imminent in a lane change. The delay time could also be composed of a predetermined value plus a first specific factor times distance. For example, the default value is 250 ms and the first specific factor is 300 ms / m.

In another embodiment, the delay time is dependent on the speed of the vehicle 20 set. At higher speeds, from about 60 km / h, the delay time must be drastically reduced, since a collision can occur faster when changing lanes. The delay time could also be composed of the difference of the factory set delay value of about 1000 ms and a second specific factor times speed. The second specific factor in this case is 10 ms / km / h, for example.

The relevance of the various driving dynamics variables can be taken into account. The delay time to initiate the action in the dynamic driving size steering movement should be shorter than the driving dynamics size indicator status. For the driving dynamics variables steering movement and turn signal status it makes sense to store values for the delay time in the driver assistance system. In a further exemplary embodiment, it is possible for the driver as well as at the factory to store delay times for specific driving situations in the driver assistance system.

The action to be performed can also be dependent on the relevance of the driving dynamics Size of the vehicle 20 and / or the distance between vehicle 20 and the detected moving object 30 be determined.

In one embodiment, only a warning is issued to the driver. The driving dynamic variable relevant for this is, above all, the status of the indicators. Depending on the system design, for example, an optical and / or acoustic and / or haptic signal is emitted. The optical signal can be, for example, an insertion of a triangle in the inside or outside mirror. The acoustic signal can be either a permanent or periodically recurring warning tone. The haptic signal can z. B. include the vibration of the steering wheel. Haptic signals are preferably accompanied by meaningful acoustic or optical signals.

In a further embodiment, after the warning is a brake unit 19 if the driver has not responded to the warnings and the vehicle 20 still on a collision course with the moving object 30 located. The relevant quantity here is above all the information about the distance between the vehicle 20 and the detected moving object 30 or the difference speed between vehicle 20 and the detected moving object 30 ,

In a further embodiment, the brake unit 19 immediately activated to perform a braking intervention when a collision is imminent. The relevant size here is above all the distance between the vehicle 20 and the detected moving object 30 or the steering movement of the vehicle 20 ,

Has a vehicle 20 via no brake unit 19 , which can make automatic braking interventions, so only warnings, as described above, are issued to the driver.

The values and possibly the algorithms after which the delay time is set are, for example, in the processing unit 16 of the vehicle 20 that z. B. includes a microcontroller stored.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011077997 A1 [0002]
• DE 4313568 C1 [0003]

Claims (10)

Method for monitoring a lateral area ( 22 ) of a vehicle ( 20 ), with the steps - Capture ( 100 ) an environment ( 22 ) side of the vehicle ( 20 ) and - capture ( 110 ) of first moving objects ( 30 ) in the detected environment ( 22 ) and - recognize ( 120 ) of second moving objects ( 30 ), which deals with the vehicle ( 20 ) are on a potential collision course, the second moving objects ( 30 ) from the set of first moving objects ( 30 ) and - capture ( 130 ) at least one vehicle dynamic size of the vehicle ( 20 ), characterized in that after recognition ( 120 ) of the second moving objects ( 30 ) an action for warning the driver and / or for braking the vehicle ( 20 ) carried out ( 130 ), wherein a delay time for the action is set as a function of the at least one dynamic driving variable. A method according to claim 1, characterized in that the warning is carried out in optical and / or acoustic and / or haptic form. A method according to any one of claims 1 or 2, characterized in that the driving dynamics variable (a turn signal status of the vehicle 20 ) is detected. Method according to one of the preceding claims, characterized in that a driving movement of the vehicle ( 20 ) is detected. Method according to one of the preceding claims, characterized in that a speed of the vehicle ( 20 ) is detected. Method according to one of the preceding claims, characterized in that the vehicle-dynamic size of the vehicle ( 20 ) a differential speed between the at least one detected second moving object ( 30 ) and the vehicle ( 20 ) is detected. Method according to one of the preceding claims, characterized in that in addition to the driving dynamics of the vehicle ( 20 ) a distance between the at least one detected second moving object ( 30 ) and the vehicle ( 20 ), wherein the delay time for the action is set as a function of the distance. Control unit ( 3 ) for carrying out a method according to one of the preceding claims with a processing unit ( 16 ), the first moving objects ( 30 ) and second moving objects ( 30 ), which is connected to the vehicle ( 20 ) are on a potential collision course, the second moving objects ( 30 ) from the set of first moving objects ( 30 ), whereby the processing unit ( 16 ) at least one vehicle dynamic size of the vehicle ( 20 ), characterized in that the processing unit ( 16 ) a delay time for an action to warn the driver and / or to brake the vehicle ( 20 ) as a function of the detected at least one vehicle dynamic variable of the vehicle ( 20 ). Driver assistance system ( 2 ) with a control device ( 3 ) according to claim 8 and an environment detection device ( 21 ), characterized in that the environment detection device ( 21 ) is mounted on the outside of the vehicle behind the driver and in front of the rear bumper. Driver assistance system ( 2 ) according to claim 9 with a means ( 13 . 14 . 15 ), characterized in that the means ( 13 . 14 . 15 ) at least one vehicle dynamic size of the vehicle ( 20 ) detected.

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