EP3036727B1 - Stationary device for reducing the risk of a collision between motor vehicles - Google Patents

Description

The invention relates to a stationary device for reducing the risk of collision of motor vehicles.

The approach of a motor vehicle to an intersection and the crossing of the intersection is subject to a higher risk, especially if other vehicles or other road users exist. Often, accidents happen due to non-observance of vehicles entitled to drive. An example of this is an intersection with a right of way grant road sign. The same applies to intersections where the rule on the right is to the left and intersections that have a stop sign or a traffic light.

In order to assist the driver, driver assistance systems have already been proposed, which in most cases are based on camera-based monitoring of the surroundings and in the event of a recognized dangerous situation emit a warning signal or intervene in the vehicle control, eg. B. by triggering a braking operation. From the DE-A1-102011106828 a stationary device is known which emits guideway information to approaching vehicles.

In the EP 1 554 604 B2 a method is proposed in which the surroundings of a vehicle and movement quantities of the vehicle are detected by means of sensors. From this a risk measure is derived, so that a warning or an active intervention in the control can be triggered.

A motor vehicle with a collision avoidance system is known from DE 10 2010 033 008 A1 known. In the event of a detected risk of collision, an optical and / or acoustic warning is triggered, at a second time Partial braking is initiated when the speed of the motor vehicle is within a predetermined speed range.

In the DE 10 2007 015 032 A1 A method for assessing the criticality of a traffic situation is described in which a vehicle located on an intersecting collision course is identified. On the basis of the states of movement of the own vehicle and the foreign one. Vehicle is calculated a period during which both vehicles are in a collision zone.

A device for assisting the driver when crossing traffic intersections is known from DE 10 2005 020 429 A1 known. The device takes into account environmental information and determines a driving movement to allow crossing a traffic intersection. In addition, a warning is issued in the event of imminent danger.

In all known collision warning devices and the corresponding methods, there is the problem that collision-avoiding measures such as the issue of driver warnings in the vehicle or automatic emergency braking are difficult to implement error-free. In particular, the avoidance of false warnings and incorrect interventions in the vehicle control is difficult. In order to perform such warning or intervention in the vehicle control with greater certainty, it must be determined whether or not the driver behaves erratically during the approach to the intersection. This determination could be made by comparing the current driver behavior with a previously determined desired driver behavior. When approaching an intersection, the driver usually reduces the vehicle speed because oncoming or crossing vehicles or other road users are present or to observe a traffic sign. On the basis of this driving behavior, it can be decided whether the driver approaches the intersection appropriately.

When crossing an intersection, two basic situations are to be distinguished: if intersection traffic exists, the driver must reduce his speed and stop if necessary and let the intersection traffic pass before he can enter the intersection. This applies to cases when the driver is not privileged, that is, when there is a right of turn sign or stop sign in his lane, or when the right-to-left rule is at the intersection.

In addition, the situation is relevant if there is no intersection traffic. In this case, the driver usually approaches the intersection at a higher speed than in the first case and can enter directly into the intersection, at least if there is a right of way sign posted there or if the right is left to the left.

A dangerous situation that could lead to a collision can thus be detected by observing driver behavior on the one hand and using vehicle sensors to determine whether other road users are approaching the intersection with which the vehicle could potentially collide. In this case, it can be concluded that there is a driving error, so that the driver can be warned, if necessary, an intervention in the vehicle control can be made, for. B. by triggering an automatic emergency braking.

Although classification into situations where there is no intersection traffic and situations in which intersection traffic exists, classification and assessment of driver behavior is already possible, it has been found that the approach behavior of the driver differs from intersection to intersection. This different behavior is due to the fact that intersections differ greatly in terms of their structure, clarity, freedom from gaze and other influencing factors such as existing buildings. Environmental factors such as brightness, weather conditions and road conditions also play a role. Accordingly, it would be necessary for each crossing to make an individual comparison between the desired behavior and the actual behavior the driver to perform a secure warning or a secured intervention. However, for each intersection, an individual target course of approach would have to be determined, but in view of the large number of different intersections, the effort required for implementation and evaluation would be too high.

The invention is therefore an object of the invention to provide a fixed device for reducing the risk of collision of vehicles, which can be used for any intersections.

To achieve this object, according to the invention, in a fixed device of the type mentioned at the outset, it comprises the following features: at least one sensor for monitoring at least two lanes in the area of an intersection and for detecting approaching vehicles, a memory in which at least one The setpoint speed profile assigned to the device is stored, the device being designed to wirelessly transmit at least one information concerning the setpoint speed profile by means of a transmission device that can be received by a vehicle approaching the device.

The invention is based on the idea of equipping intersections with at least one sensor, preferably a plurality of sensors, in order to monitor at least two lanes, preferably all lanes leading to the intersection. When an approaching vehicle has been detected by a sensor, the device transmits information relating to a desired speed profile that can be received by the vehicle approaching the device. The vehicle has for this purpose a corresponding receiving device. The information transmitted by the transmitting device is transmitted wirelessly, that is by radio, by means of a suitable radio standard.

The stationary device has a memory in which one or more of the device, that is the junction, associated desired speed profiles are stored.

According to a first embodiment of the invention, it can be provided that the device has an evaluation unit which is designed to compare the actual speed profile of the approaching vehicle with the at least one desired speed profile and a deviation between the actual speed profile and the To detect desired speed profile and output when exceeding a threshold for the deviation of a warning signal by means of the transmitting device. The evaluation unit is part of the stationary device, so that the evaluation of the information supplied by the sensors is performed by the stationary device. A vehicle approaching the stationary device is detected, in particular an actual speed profile of the approaching vehicle is detected. This actual velocity profile is compared with a desired velocity profile. If the deviation exceeds a predetermined limit, a warning signal is output by means of the transmitter of the stationary device, this warning signal can be received by the vehicle, so that the warning signal can be output to the driver. This variant has the advantage that no evaluation unit is required on the vehicle side. The vehicle only needs to be able to receive warning signals and output to the driver.

In the device according to the invention, it is preferred that the sensors are designed as radar sensors or ultrasound sensors or as optical sensors. Optionally, a combination of different types of sensors may be provided. The sensors can be arranged so that individual lanes are specifically monitored, for example, those lanes that lead to the intersection.

To improve the functionality, it may be provided that the device according to the invention can be operated in a learning mode in which speed profiles of approaching vehicles can be detected in order to set or update a desired speed profile. The operation of the device in the learning mode may be after the installation of the device take place, if no desired speed profiles are stored in the memory. Alternatively, however, it is also possible to store one or more desired speed profiles in the memory, so that the function of transmitting information is available immediately after the installation of a stationary device. In this context, it is also conceivable to operate the device according to the invention at intervals in the learning mode in order to detect speed profiles of approaching vehicles, in order to derive therefrom a desired speed profile. It is also possible that all vehicles approaching the device are taken into account by recording their speed profile and taking it into account when setting or updating the setpoint speed profile. The target velocity profile can be z. B. by a statistical evaluation of many speed profiles are created from which average values and deviations can be determined up and down. It is essential that target speed profiles are determined for two cases, namely on the one hand for the case when there is no intersection traffic, and on the other hand for the case when approaching one or more other vehicles of the stationary device or the intersection.

In this context, it can also be provided that the evaluation unit is designed to output the warning signal only when at least two vehicles approach the device at the same time. This means that at least one other vehicle is in the vicinity, so that it may possibly lead to a collision. On the other hand, if only one vehicle can be determined in the vicinity of the stationary device or in the vicinity of the intersection, no warning signal is output because there is no danger of collision between vehicles.

According to the invention, the warning signal can be transmitted wirelessly, in particular via WLAN, UMTS or Bluetooth. In addition, any other suitable frequency or a suitable transmission method can be used, for which a corresponding receiver is present in the vehicle. According to the invention, it may be provided that the warning signal can be emitted in an undirected manner to approaching vehicles. This variant has the advantage that no bidirectional communication between the stationary device and a particular motor vehicle has to be established. Instead, the warning signal is sent out undirected, so that it can be received by all approaching vehicles that are equipped with a corresponding receiving device.

On the other hand, it can also be provided that a warning signal can be emitted directed to an approaching vehicle. This results in the advantage that only a specific vehicle or a particular driver who is in a dangerous situation, is warned without it comes to a faulty warning or a false alarm in a vehicle that is not in a dangerous situation ,

In the device according to the invention, it can be provided that the deviation of the actual speed from the desired speed is defined as absolute deviation or as relative deviation. For example, an absolute deviation may be defined as a speed corridor, e.g. B. covers a range of ± 5 km / h to the target speed. A relative deviation may be defined by the definition of a percentage deviation, e.g. b. a range of - 10% to + 10%, based on the target speed.

The device according to the invention can also be extended to store in the memory a plurality of desired speed profiles in which at least one of the following influencing factors is taken into account: time of day, season, brightness, road conditions, weather conditions, in particular rain, snow, black ice. Depending on the current environmental conditions in each case a suitable target speed profile is selected, which is used for the evaluation by the evaluation unit. This makes it possible to consider the influence of changing environmental conditions on driving behavior.

The motor vehicle according to the invention is characterized in that the receiving device is designed to receive a warning signal which can be optically and / or acoustically and / or haptically output in the vehicle and / or by which an action can be triggered automatically. By means of the receiving device warning signals, but also a target speed profile information can be received, which, optionally after an evaluation, are output in the form of a warning signal so that they can be perceived by the driver. In order to reduce or completely eliminate the risk of a collision, it may be provided in the motor vehicle according to the invention that a brake actuation or an intervention in the accelerator pedal actuation can be triggered after receiving a warning signal. In addition, further actions can be taken, for example, brake lights could be activated, the same applies to the headlights of the motor vehicle to warn by these optical signals other road users.

In addition, the invention relates to a motor vehicle with a receiving device for wirelessly transmitted security-related information. In the case of the motor vehicle according to the invention, it is provided that the receiving device is designed to receive desired speed profiles which are transmitted by a stationary device. The difference between the motor vehicle described above is that the evaluation of the desired speed profiles and the detection of a deviation on the vehicle side. In the case of the motor vehicle described above, this evaluation takes place in an evaluation unit which is assigned to the stationary device. The stationary device then sends only warning signals.

On the other hand, the motor vehicle according to the invention has an evaluation unit which is designed to have at least one desired speed profile to compare with an actual speed profile and to detect a deviation and to trigger an action when exceeding a limit value for the deviation. The actual velocity profile results from known current state data. The triggering of the action may include the issuing of a warning signal and / or a brake application and / or an intervention in the accelerator pedal operation and / or in the vehicle steering system and / or the vehicle control system.

Fig. 1

eine im Bereich einer Kreuzung installierte erfindungsgemäße ortsfeste Einrichtung;

Fig. 2

zwei Geschwindigkeitsverläufe bei der Annäherung an die Kreuzung;

Fig. 3

die ortsfeste Einrichtung von Fig. 1 während einer anderen Verkehrssituation;

Fig. 4

mehrere Geschwindigkeitsverläufe bei der Annäherung an die Kreuzung von Fig. 3;

Fig. 5

die ortsfeste Einrichtung von Fig. 1 während einer weiteren Verkehrssituation;

Fig. 6

zwei Geschwindigkeitsverläufe bei der Annäherung an die Kreuzung von Fig. 5;

Fig. 7

ein weiteres Ausführungsbeispiel einer erfindungsgemäßen ortsfesten Einrichtung;

Fig. 8

die in Fig. 1 gezeigte erfindungsgemäße ortsfeste Einrichtung gemäß einem weiteren Ausführungsbeispiel; und

Fig. 9

ein Ausführungsbeispiel einer erfindungsgemäßen ortsfesten Einrichtung.

Further advantages and details of the invention will be explained below with reference to embodiments with reference to the drawings. The drawings are schematic representations and show:

Fig. 1

a stationary device according to the invention installed in the region of an intersection;

Fig. 2

two speed profiles when approaching the intersection;

Fig. 3

the fixed installation of Fig. 1 during another traffic situation;

Fig. 4

several speed curves when approaching the intersection of Fig. 3 ;

Fig. 5

the fixed installation of Fig. 1 during another traffic situation;

Fig. 6

two speed curves when approaching the intersection of Fig. 5 ;

Fig. 7

a further embodiment of a stationary device according to the invention;

Fig. 8

in the Fig. 1 shown fixed device according to the invention according to a further embodiment; and

Fig. 9

an embodiment of a stationary device according to the invention.

Fig. 1 shows a fixed device 1, which is installed at an intersection 2. In Fig. 1 the intersection 2 is shown in a plan view. The stationary device 1 is located near intersecting roadways 3, 4, it can also be integrated in a traffic light or installed next to a traffic light.

The stationary device 1 for reducing the risk of collision of vehicles has sensors which cover the lanes 3, 4, so that motor vehicles approaching from all four directions of the intersection 2 can be detected. The sensors are designed to monitor the lanes of the lanes 3, 4, that is, in an approaching vehicle, both its path and its speed are detected. By taking into account the time course, an acceleration or deceleration of an approaching vehicle can additionally be detected. The stationary device 1 has a memory in which a desired speed profile is stored. This desired speed profile is specially adapted to this stationary device 1. In a previous learning mode, speed profiles of approaching vehicles have been recorded, and the desired speed profile has been derived therefrom by statistical methods.

Fig. 2 shows qualitatively the desired speed profile, wherein on the horizontal axis the distance a to a stop line 5 and on the vertical axis the target speed is plotted. During the approach to the stop line 5, the speed of a vehicle decreases until the vehicle has come to a halt shortly before reaching the stop line. Then the speed increases again. In the stationary device 1, an evaluation unit is provided which is capable of the actual speed profile a vehicle 6 with the in Fig. 2 compare target speed profile 7 shown. In Fig. 2 is the actual speed profile of the intersection 2 approaching vehicle 6 shown in dashed lines. In this case, the curve of the actual speed profile 8 is below the curve of the target speed profile 7. This means that the driver is behaving properly, in particular there is no risk of collision with another vehicle 9, 10. Since the deviation between the Set speed profile 7 and the actual speed profile 8 is smaller than a predetermined limit, the stationary device 1 is no warning signal. In this exemplary embodiment, the limit value of the deviation is set so that a warning signal is emitted if there is a deviation from the setpoint speed profile 7 of more than 10 km / h.

Since a risk of collision only exists when a driver with a higher speed than the target speed profile 7, the intersection 2 approaches, it may also be provided in the context of the evaluation that only in a positive overrun of the target speed profile. 7 a warning signal is triggered.

The FIGS. 3 and 4 show a second embodiment of the function of the fixed device for reducing the risk of collision of vehicles. In this case, only the vehicle 6 approaches the intersection 2 at which the stationary device 1 is installed. In that regard, the illustrated traffic situation agrees with the in Fig. 1 shown match. At intersection 2, the right of way to the right on the left applies. In the situation shown, however, there are no other vehicles approaching the intersection 2.

Fig. 4 shows the target speed profile 7, which is assigned to the junction 2, as well as a dashed drawn actual speed profile 11, which is assigned to the vehicle 6. It can be seen that the actual speed profile 11 in this embodiment is above the desired speed profile 7, that is, the vehicle 6 moves faster because the driver has detected that no other vehicle exists which, if applicable, should be granted priority. In this case, the evaluation unit takes into account a different target speed profile 12, which is assigned to a situation in which no intersection traffic, that is to say no further approaching vehicles, is present. The desired speed profile 12 for the crossing for the intersection 2 without intersection traffic is in Fig. 4 shown. Since the actual speed profile 11 is below the desired speed profile 12, no warning signal is output. However, the stationary device 1 can also be designed so that generally no warning signal is output when no intersection traffic, that is, no other approaching vehicles, are available. In this case, no collision is to be feared, even if the driver approaches at a speed of the intersection 2, which is above the target speed profile 12.

The FIGS. 5 and 6 show a further embodiment of the invention. In the illustrated traffic situation, the vehicle 6 approaches the intersection 2, the corresponding actual speed profile 13 is in Fig. 6 shown. At the same time, the authorized vehicle 9 approaches from the right Fig. 6 it can be seen that the actual speed profile 13 is above the desired speed profile 7. The distance d between the two speed profiles exceeds a specified limit, so that a warning signal 14 is emitted by the stationary device 1. This in Fig. 5 schematically illustrated warning signal 14 is transmitted wirelessly via a radio link by means of a transmitting device of the stationary device 1. The motor vehicle 6 has a receiving device which is able to receive the emitted warning signal and output visually and acoustically to the driver. If the vehicle 9 also has a corresponding receiving device, the driver of this vehicle can also be warned of an imminent dangerous situation. In this embodiment, the warning signal 14 is transmitted via WLAN. In the event of an imminent collision, a further or another warning signal can optionally be emitted by the stationary device 1, which results in the vehicle 6 performing emergency braking. This intervention in the vehicle control can either Alternatively, the warning signal is evaluated by an evaluation of the vehicle, which then optionally an automatic action, eg. B. triggers an emergency stop.

In the evaluation of the actual speed profile by the evaluation is essential that it is first checked which of the two basic situations is present, that is, whether intersection traffic is present or not. Situations in which there is no intersection traffic, that is to say at least one further vehicle approaching the intersection, are relatively uncritical, since then there is no risk of collision. In this case, warnings can be dispensed with by the stationary device 1. However, if intersection traffic is present, the corresponding desired speed profile 12 is taken into account and determined whether a warning signal is to be sent or not.

Fig. 7 shows a further embodiment of the function of the fixed device 1. The in Fig. 7 shown traffic situation corresponds to that of Fig. 5 that is, next to the vehicle 6, another vehicle 9 approaches the intersection 2, wherein the vehicle 9 is entitled to drive. Assuming that the vehicle 6 is approaching the intersection 2 at the same speed as in the embodiment 5, according to the actual speed profile 13, the stationary device 1 will detect, after detecting the exceeding of the limit value for the deviation, the setpoint value. Speed Profile 7 information sent out, this radio signal is in Fig. 7 designated by the reference numeral 15. The radio signal 15 is received and evaluated by an on-board evaluation unit of the vehicle 6. The on-board evaluation unit compares the target speed profile received by the radio signal 15 with the actual speed profile, with a detected deviation exceeding a predetermined limit, an action is triggered. The action consists of issuing a warning signal that is perceptible by the driver of the vehicle 6. In addition to the output of an optical and / or audible warning signal, an emergency braking process can occur in the event of a risk of collision to be triggered. In this embodiment, there is the advantage that the vehicle 6 is always transmitted during a journey current target speed profiles of the intersections, which he approaches. As a result, changes that occurred in the meantime can be taken into account.

Fig. 8 shows a further embodiment of the function of the fixed device 1. The in Fig. 8 The traffic situation shown differs from the previous one by the road condition. In the embodiment of Fig. 8 the road 16 is at least partially covered in snow and provided with ice. This deviating environmental state is taken into account by selecting a different desired velocity profile from the evaluation unit of the stationary device 1. In addition to a speed profile for a snow-covered or icy roadway, additional speed profiles are stored in the memory which are assigned to different environmental conditions. These include a speed profile for twilight or for night driving and speed profiles for different times or other weather conditions such as fog, rain, etc. The current environmental conditions can detect the stationary device 1 itself via corresponding sensors, alternatively, these environmental conditions from a transmitter to a large Number of fixed facilities to be sent.

If the driver of the vehicle 6 approaches the intersection 2 at too high a speed, a warning signal is thus emitted by the stationary device 1 which has been selected on the basis of the current environmental conditions from a plurality of desired speed profiles. Alternatively, only one of the plurality of desired speed profiles can be selected based on the environmental conditions, which can be evaluated by the evaluation unit in the vehicle.

Fig. 9 schematically shows the stationary device 1, the sensors 17 has to detect relevant sectors of the intersection 2. Inside the stationary device 1 is the memory 18, in which the desired speed profiles are stored. In addition, the stationary device 1 has the transmitting device 19 in order to transmit a desired speed profile or a warning signal to vehicles. The stationary device 1 can also be integrated in a traffic light or in a traffic sign or attached thereto.

The stationary device ensures a reliable warning of road users from dangerous situations, with erroneous warnings can be almost ruled out.

Claims (11)

1. Static device (1) for reducing the collision risk of vehicles,
   characterised in that
   the device (1) comprises:

   - sensors (17) for monitoring at least two traffic lanes in the region of an intersection (2) and for detecting approaching vehicles (6, 9, 10);

   - a memory (18) in which at least one setpoint speed profile assigned to the device (1) is stored;

   - the setpoint speed profile comprising value pairs consisting of a distance and a setpoint speed assigned to the distance;

   - the device (1) being configured to wirelessly transmit by means of a transmitter device (19) at least one information item relating to the setpoint speed profile, which can be received by a vehicle (6, 9, 18) approaching the device (1)
2. Device according to Claim 1,
   characterised in that
   it has an evaluation unit which is configured to compare the actual speed profile of the approaching vehicle (6, 9, 10) with the at least one setpoint speed profile and to detect a difference between the actual speed profile and the setpoint speed profile, and to emit a warning signal by means of the transmitter device (19) when a limit value for the difference is exceeded.
3. Device according to Claim 1 or 2,
   characterised in that
   the sensors (17) are configured as radar sensors or ultrasound sensors or optical sensors, the device (1) optionally having different sensors (17).
4. Device according to one of the preceding claims,
   characterised in that
   it can be operated in a learning mode in which speed profiles of approaching vehicles (6, 9, 10) can be detected, in order to establish or update a setpoint speed profile.
5. Device according to one of Claims 2 to 4,
   characterised in that
   the evaluation device is configured to emit a warning signal only when at least two vehicles (6, 9, 10) are approaching the device simultaneously.
6. Device according to one of Claims 2 to 5,
   characterised in that
   the warning signal can be transmitted wirelessly, in particular by WLAN, UMTS or Bluetooth.
7. Device according to one of Claims 2 to 6,
   characterised in that
   the warning signal can be transmitted nondirectionally to approaching vehicles (6, 9, 10) or directionally to an approaching vehicle (6, 9, 10).
8. Device according to one of Claims 2 to 7,
   characterised in that
   the difference of the actual speed from the setpoint speed is defined as an absolute difference or relative difference.
9. Device according to one of the preceding claims,
   characterised in that
   a plurality of setpoint speed profiles, in which at least one of the following influencing factors is taken into account, are stored in the memory (18): time, season, brightness, road condition, weather conditions, in particular rain, snow, ice.
10. Motor vehicle having a reception device for wirelessly transmitted safety-relevant information,
    characterised in that
    the reception device is configured to receive setpoint speed profiles which are transmitted by a static device and are assigned to the static device, the setpoint speed profile comprising value pairs consisting of a distance and a setpoint speed assigned to the distance,
    characterised in that
    the motor vehicle has an evaluation unit which is configured to compare at least one setpoint speed profile with an actual speed profile and to detect a difference between the actual speed profile and the setpoint speed profile, and to initiate an action when a limit value for the difference is exceeded.
11. Motor vehicle according to Claim 10,
    characterised in that
    the action comprises the emission of a warning signal and/or brake actuation and/or intervention in the acceleration pedal actuation.

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