[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2017041944A1 - Method for performing a driver-independent driver assistance function in a two-track motor vehicle - Google Patents

Method for performing a driver-independent driver assistance function in a two-track motor vehicle Download PDF

Info

Publication number
WO2017041944A1
WO2017041944A1 PCT/EP2016/067043 EP2016067043W WO2017041944A1 WO 2017041944 A1 WO2017041944 A1 WO 2017041944A1 EP 2016067043 W EP2016067043 W EP 2016067043W WO 2017041944 A1 WO2017041944 A1 WO 2017041944A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
assistance function
driver assistance
sensors
handlebar
Prior art date
Application number
PCT/EP2016/067043
Other languages
German (de)
French (fr)
Inventor
Alfred Kuttenberger
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2017041944A1 publication Critical patent/WO2017041944A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B62K21/26—Handlebar grips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters

Definitions

  • the invention relates to a method for the driver-independent implementation of a driver assistance function in a two-lane motor vehicle, in particular a motorcycle, in which
  • the driver assistance function is performed.
  • the invention provides increased safety for the cyclist in the implementation of driver-independent driver assistance functions such as automatic emergency braking. These are only carried out when the driver has both hands on the handlebar grips.
  • the first sensor means whether there is a dangerous situation for the cyclist or an accident or collision is imminent, so that intervention by a driver assistance system makes sense. That is, in the event that the driver does not have at least one hand on the handlebar grip or at least a handlebar grip is not held or gripped by the driver, the implementation of the driver assistance function is dispensed with.
  • An advantageous embodiment of the invention is characterized in that in the event that the driver does not have at least one hand on a handlebar grip, the driver assistance function is performed in a modified form. This is in particular a weakened form of
  • Driver assistance function which affects in particular only weaker on the driving dynamics of the motorcycle or two-wheeler.
  • An advantageous embodiment of the invention is characterized in that the driver assistance function is emergency braking.
  • the first sensor means are a video sensor system, a radar sensor system, an ultrasonic sensor system or a lidar sensor system. These sensor means are particularly suitable for environment detection and environment assessment.
  • An advantageous embodiment of the invention is characterized in that the second sensor means are also video sensors.
  • the second sensor means are capacitive sensors integrated in the handlebar grips, inductive sensors, temperature sensors, pressure sensors or optical sensors. These sensors are characterized by a very small space requirement, so that an integration into one
  • An advantageous embodiment of the invention is characterized in that it is in the modified form of the driver assistance function to a form or implementation of the driver assistance function in intensity
  • An advantageous embodiment of the invention is characterized in that in the event that the driver does not have at least one hand on a handlebar grip, a driver warning is issued. This may in particular be a visual, audible or haptic warning. The warning should in particular be designed so that even a distracted driver perceives them.
  • a driver warning is characterized in that the driver warning is a brake pressure or warning pressure generated by a short driver-independent brake actuation or brief brake pressure increase.
  • the invention comprises a device containing means specifically for
  • Program code for performing the method according to the invention is deposited.
  • the drawing comprises FIG. 1.
  • Fig. 1 shows the sequence of an embodiment of the method according to the invention.
  • the present invention allows the detection of whether in a two-wheeler, e.g. a motorcycle, the driver has both hands on the handlebar. This detection is e.g. essential for the safe implementation of driver-independent stabilization or safety functions with, for example, automatic steering interventions on a two-wheeler, such as a bicycle. an automatic emergency braking system
  • Lane keeping system or a motorcycle ACC If the driver does not have both hands on the handlebar, then an uneven force is exerted on the handlebar in the event of an emergency braking triggered for example by radar sensor information, ie the forces on the right and left sides of the handlebar are different. This then leads to an unwanted steering impulse on the handlebar, which leads to a further dangerous situation for the motorcycle and its driver.
  • One possible technical solution for detecting that the driver has both hands on the handlebars are sensor means integrated into the handlebar grips.
  • the signals are evaluated and recognized whether the driver with both hands the handlebar with the for example. an emergency braking situation required force, so as not to come to a fall.
  • This detection, whether the driver has both hands on the handlebar, can in particular with a
  • Handlebar handle heating can be combined.
  • the temperature in the handlebar grip is determined by means of an evaluation circuit. This temperature evaluation is based on the fact that when driving the handle is cooled by the wind, when the driver does not grip the handlebar.
  • optical sensors such as photodiodes or light barriers can be used to detect whether there is a free space around the handlebar grip or not. If there is a free space around the entire handlebar grip, then it can be assumed that this handlebar grip is not encompassed by the driver.
  • Another sensor system is a camera. This camera is set up so that both handlebar grips can be monitored. By means of a suitable algorithm for image recognition, the image is then evaluated and determined whether the driver has both hands on the handlebars. If it is detected that the driver has both hands on the handlebar, then, for example, emergency braking can be triggered. If this is not the case, then, for example, only a short brake pressure is activated to give the driver a warning or the braking power at an emergency braking is limited such that it does not lead to a fall of
  • FIG. 10 The sequence of an embodiment of the method according to the invention is shown in FIG. After starting the method in block 100, a check is made in block 101 as to whether intervention by a driver assistance system is necessary. This can e.g. performing an emergency braking operation after a radar sensor has detected an imminent collision hazard. If an intervention is required, then it proceeds to block 102. On the other hand, if an intervention is not required, then it returns to block 100.
  • a driver assistance system e.g. performing an emergency braking operation after a radar sensor has detected an imminent collision hazard. If an intervention is required, then it proceeds to block 102. On the other hand, if an intervention is not required, then it returns to block 100.
  • this emergency braking operation which means a very strong intervention in the current driving dynamics of the motorcycle is performed. It is checked in block 102, whether the driver has both hands on the handlebar. This is done against the background that the implementation of an emergency braking operation could lead to a completely uncontrolled driving dynamics behavior of the motorcycle, if the driver does not include both handlebar grips. If it is determined in block 102 that both driver's hands are located on the handlebar grips, then in block 104 the emergency braking operation is performed. However, if at least one handlebar grip is not occupied by a driver's hand, then in block 103 the emergency braking operation is either performed only in a strongly attenuated form or even suppressed.

Landscapes

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

Abstract

The invention relates to a method for performing a driver-independent driver assistance function in a two-track motor vehicle, in particular a motorcycle, in which it is determined by means of first sensor means whether the driver assistance function is to be performed, also it is determined by means of second sensor means whether the driver has both hands on the steering wheel and if the driver has both hands on the steering wheel, the driver assistance function is performed.

Description

Beschreibung Titel  Description title
Verfahren zur fahrerunabhängigen Durchführung einer Fahrerassistenzfunktion bei einem zweispurigen Kraftfahrzeug Method for the driver-independent implementation of a driver assistance function in a two-lane motor vehicle
Stand der Technik State of the art
Aus der DE 10 2010 033 744 AI sind ein Verfahren und eine Vorrichtung zur Detektion einer Freihandfahrt eines Fahrers eines Kraftfahrzeugs bekannt. Das Verfahren weist die folgenden Schritte auf: From DE 10 2010 033 744 AI a method and an apparatus for detecting a free-hand drive of a driver of a motor vehicle are known. The method comprises the following steps:
- Bestimmen des zeitlichen Verlaufs des am Lenkrad des Kraftfahrzeugs  - Determining the time course of the steering wheel of the motor vehicle
anliegenden Lenkmomentsignals,  adjacent steering torque signal,
- Extrahieren von Merkmalen, die eine Freihandfahrt kennzeichnen, aus dem zeitlichen Verlauf des Lenkmomentsignals,  Extracting features which characterize freewheel travel from the time profile of the steering torque signal,
- Zusammenfassen der extrahierten Merkmale in einem Merkmalsvektor und - Combining the extracted features in a feature vector and
- Klassifizierung des Merkmalsvektors in einem Klassifikator in eine Klasse Classification of the feature vector in a classifier into a class
betreffend die Freihandfahrt und in eine Klasse betreffend die Hands-On- Fahrt.  concerning free travel and a class concerning the hands-on journey.
Offenbarung der Erfindung Disclosure of the invention
Die Erfindung betrifft ein Verfahren zur fahrerunabhängigen Durchführung einer Fahrerassistenzfunktion bei einem zweispurigen Kraftfahrzeug, insbesondere einem Motorrad, bei dem The invention relates to a method for the driver-independent implementation of a driver assistance function in a two-lane motor vehicle, in particular a motorcycle, in which
mittels erster Sensormittel ermittelt wird, ob die Fahrerassistenzfunktion durchgeführt werden soll bzw. ob die Durchführung der  is determined by means of first sensor means, whether the driver assistance function is to be performed or whether the implementation of
Fahrerassistenzfunktion sinnvoll oder notwendig ist,  Driver assistance function is useful or necessary,
mittels zweiter Sensormittel ermittelt wird, ob der Fahrer beide Hände an den Lenkergriffen hat und  is determined by means of second sensor means, whether the driver has both hands on the handlebar grips and
für den Fall, dass der Fahrer beide Hände an den Lenkergriffen hat, die Fahrerassistenzfunktion durchgeführt wird. Damit bietet die Erfindung eine erhöhte Sicherheit für den Zweiradfahrer bei der Durchführung fahrerunabhängiger Fahrerassistenzfunktionen wie z.B. einer automatischen Notbremsung. Diese werden nur dann durchgeführt, wenn der Fahrer beide Hände an den Lenkergriffen hat. Mit den ersten Sensormitteln wird insbesondere ermittelt, ob eine Gefahrensituation für den Zweiradfahrer besteht bzw. ein Unfall oder eine Kollision unmittelbar bevorsteht, so dass ein Eingriff eines Fahrerassistenzsystems sinnvoll ist. D.h. für den Fall dass der Fahrer wenigstens eine Hand nicht am Lenkergriff hat bzw. wenigstens ein Lenkergriff nicht vom Fahrer gehalten oder umgriffen wird, wird auf die Durchführung der Fahrerassistenzfunktion verzichtet. in the event that the driver has both hands on the handlebars, the driver assistance function is performed. Thus, the invention provides increased safety for the cyclist in the implementation of driver-independent driver assistance functions such as automatic emergency braking. These are only carried out when the driver has both hands on the handlebar grips. In particular, it is determined with the first sensor means whether there is a dangerous situation for the cyclist or an accident or collision is imminent, so that intervention by a driver assistance system makes sense. That is, in the event that the driver does not have at least one hand on the handlebar grip or at least a handlebar grip is not held or gripped by the driver, the implementation of the driver assistance function is dispensed with.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass für den Fall, dass der Fahrer wenigstens eine Hand nicht an einem Lenkergriff hat, die Fahrerassistenzfunktion in einer modifizierten Form durchgeführt wird. Hierbei handelt es sich insbesondere um eine abgeschwächte Form der An advantageous embodiment of the invention is characterized in that in the event that the driver does not have at least one hand on a handlebar grip, the driver assistance function is performed in a modified form. This is in particular a weakened form of
Fahrerassistenzfunktion, welche sich insbesondere nur schwächer auf den fahrdynamischen Zustand des Motorrads bzw. Zweirads auswirkt. Driver assistance function, which affects in particular only weaker on the driving dynamics of the motorcycle or two-wheeler.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei der Fahrerassistenzfunktion um eine Notbremsung handelt. An advantageous embodiment of the invention is characterized in that the driver assistance function is emergency braking.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei den ersten Sensormitteln um eine Videosensorik, eine Radarsensorik, eine Ultraschallsensorik oder eine Lidarsensorik handelt. Diese Sensormittel sind für die Umfelderkennung und Umfeldbewertung besonders geeignet. An advantageous embodiment of the invention is characterized in that the first sensor means are a video sensor system, a radar sensor system, an ultrasonic sensor system or a lidar sensor system. These sensor means are particularly suitable for environment detection and environment assessment.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei den zweiten Sensormitteln ebenfalls um eine Videosensorik handelt. An advantageous embodiment of the invention is characterized in that the second sensor means are also video sensors.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei den zweiten Sensormitteln um in die Lenkergriffe integrierte kapazitive Sensoren, induktive Sensoren, Temperatursensoren, Drucksensoren oder optische Sensoren handelt. Diese Sensoren zeichnen sich durch einen nur sehr geringen Raumbedarf aus, so dass auch eine Integration in einen An advantageous embodiment of the invention is characterized in that the second sensor means are capacitive sensors integrated in the handlebar grips, inductive sensors, temperature sensors, pressure sensors or optical sensors. These sensors are characterized by a very small space requirement, so that an integration into one
Lenkergriff ohne größere Abänderungen des Lenkergriffs möglich ist. Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei der modifizierten Form der Fahrerassistenzfunktion um eine Form bzw. Durchführung der Fahrerassistenzfunktion mit in ihrer Intensität Handlebar grip without major modifications of the handlebar grip is possible. An advantageous embodiment of the invention is characterized in that it is in the modified form of the driver assistance function to a form or implementation of the driver assistance function in intensity
abgeschwächten Regelungseingriffen handelt. Hierbei ist in erster Linie anweakened regulatory interventions. This is primarily on
Brems-, Lenkungs- oder Fahrwerkseingriffe gedacht. Braking, steering or chassis interventions thought.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass für den Fall, dass der Fahrer wenigstens eine Hand nicht an einem Lenkergriff hat, eine Fahrerwarnung ausgegeben wird. Dabei kann es sich insbesondere um eine optische, akustische oder haptische Warnung handeln. Die Warnung sollte insbesondere so ausgestaltet sein, dass auch ein abgelenkter Fahrer sie wahrnimmt. Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei der Fahrerwarnung um einen durch eine kurze fahrerunabhängige Bremsbetätigung bzw. kurzzeitige Bremsdruckerhöhung erzeugten Bremsruck bzw. Warnruck handelt. Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel, die speziell zurAn advantageous embodiment of the invention is characterized in that in the event that the driver does not have at least one hand on a handlebar grip, a driver warning is issued. This may in particular be a visual, audible or haptic warning. The warning should in particular be designed so that even a distracted driver perceives them. An advantageous embodiment of the invention is characterized in that the driver warning is a brake pressure or warning pressure generated by a short driver-independent brake actuation or brief brake pressure increase. Furthermore, the invention comprises a device containing means specifically for
Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind. Dabei handelt es sich insbesondere um ein Steuergerät, in welchem der Implementation of the inventive method are designed. This is in particular a control unit in which the
Programmcode zur Durchführung der erfindungsgemäßen Verfahren hinterlegt ist. Program code for performing the method according to the invention is deposited.
Die Zeichnung umfasst Fig. 1. The drawing comprises FIG. 1.
Fig. 1 zeigt den Ablauf einer Ausgestaltung des erfindungsgemäßen Verfahrens. Die vorliegende Erfindung erlaubt die Detektion, ob bei einem Zweirad, z.B. einem Motorrad, der Fahrer beide Hände am Lenker hat. Diese Detektion ist z.B. wesentlich für die sichere Durchführung von fahrerunabhängigen Stabilisierungsoder Sicherheitsfunktionen mit beispielsweise automatischen Lenkeingriffen an einem Zweirad wie z.B. ein automatisches Notbremssystem, ein Fig. 1 shows the sequence of an embodiment of the method according to the invention. The present invention allows the detection of whether in a two-wheeler, e.g. a motorcycle, the driver has both hands on the handlebar. This detection is e.g. essential for the safe implementation of driver-independent stabilization or safety functions with, for example, automatic steering interventions on a two-wheeler, such as a bicycle. an automatic emergency braking system
Spurhaltesystem oder ein Motorrad-ACC. Hat der Fahrer nicht beide Hände am Lenker, dann wird im Falle einer beispielsweise durch eine Radarsensorinformation ausgelösten Notbremsung eine ungleichmäßige Kraft auf den Lenker ausgeübt, d.h. die Kräfte auf der rechten und linken Seite des Lenkers sind verschieden. Dies führt dann dazu, dass ein ungewollter Lenkimpuls auf den Lenker entsteht, was zu einer weiteren Gefahrensituation für das Motorrad und dessen Fahrer führt. Lane keeping system or a motorcycle ACC. If the driver does not have both hands on the handlebar, then an uneven force is exerted on the handlebar in the event of an emergency braking triggered for example by radar sensor information, ie the forces on the right and left sides of the handlebar are different. This then leads to an unwanted steering impulse on the handlebar, which leads to a further dangerous situation for the motorcycle and its driver.
Eine mögliche technische Lösung für die Erkennung, dass der Fahrer beide Hände am Lenker hat sind in die Lenkergriffe integrierte Sensormittel. One possible technical solution for detecting that the driver has both hands on the handlebars are sensor means integrated into the handlebar grips.
Dies können z.B. induktive oder kapazitive Sensoren sein, welche über eine Strom- bzw. Spannungsmessung bestimmen, wie sich eine Induktivität oder Kapazität verändert. Mittels einer Auswerteschaltung und eines geeigneten Algorithmus werden die Signale ausgewertet und erkannt, ob der Fahrer mit beiden Händen den Lenker mit der für z.B. eine Notbremssituation erforderlichen Kraft festhält, um nicht zu einem Sturz zu kommen. Diese Erkennung, ob der Fahrer beide Hände am Lenker hat, kann insbesondere mit einer This can e.g. be inductive or capacitive sensors, which determine via a current or voltage measurement, how an inductance or capacitance changes. By means of an evaluation circuit and a suitable algorithm, the signals are evaluated and recognized whether the driver with both hands the handlebar with the for example. an emergency braking situation required force, so as not to come to a fall. This detection, whether the driver has both hands on the handlebar, can in particular with a
Lenkergriffheizung kombiniert werden. Handlebar handle heating can be combined.
Eine weitere Möglichkeit ist der Einsatz von Temperatursensoren. Hier wird mittels einer Auswerteschaltung die Temperatur im Lenkergriff ermittelt. Diese Temperaturauswertung beruht darauf, dass beim Fahren der Griff durch den Fahrtwind gekühlt wird, wenn der Fahrer den Lenker nicht umgreift. Another possibility is the use of temperature sensors. Here, the temperature in the handlebar grip is determined by means of an evaluation circuit. This temperature evaluation is based on the fact that when driving the handle is cooled by the wind, when the driver does not grip the handlebar.
Weiter kann mittels Drucksensoren der Druck auf einen Lenkergriff erfasst werden. Danach wird mittels einer geeigneten Auswerteschaltung und einem Algorithmus ermittelt, ob der Fahrer die Hände am Lenker hat. Next can be detected by pressure sensors, the pressure on a handlebar grip. Then it is determined by means of a suitable evaluation circuit and an algorithm, whether the driver has his hands on the handlebars.
Auch optische Sensoren wie z.B. Fotodioden oder Lichtschranken können eingesetzt werden, um zu erkennen, ob sich um den Lenkergriff ein Freiraum befindet oder nicht. Befindet sich um den gesamten Lenkergriff ein Freiraum, dann kann davon ausgegangen werden, dass dieser Lenkergriff vom Fahrer nicht umgriffen ist. Ein weiteres Sensorsystem stellt eine Kamera dar. Diese Kamera ist derart eingerichtet, dass damit beide Lenkergriffe überwacht werden können. Mittels eines geeigneten Algorithmus zur Bilderkennung wird dann das Bild ausgewertet und ermittelt, ob der Fahrer beide Hände am Lenker hat. Wird erkannt, dass der Fahrer beide Hände am Lenker hat, dann kann beispielsweise eine Notbremsung ausgelöst werden. Ist dies nicht der Fall, dann wird z.B. nur ein kurzer Bremsruck aktiviert, um dem Fahrer eine Warnung zu geben oder die Bremsleistung bei einer Notbremsung wird derart begrenzt, dass es zu keinem Sturz des Also, optical sensors such as photodiodes or light barriers can be used to detect whether there is a free space around the handlebar grip or not. If there is a free space around the entire handlebar grip, then it can be assumed that this handlebar grip is not encompassed by the driver. Another sensor system is a camera. This camera is set up so that both handlebar grips can be monitored. By means of a suitable algorithm for image recognition, the image is then evaluated and determined whether the driver has both hands on the handlebars. If it is detected that the driver has both hands on the handlebar, then, for example, emergency braking can be triggered. If this is not the case, then, for example, only a short brake pressure is activated to give the driver a warning or the braking power at an emergency braking is limited such that it does not lead to a fall of
Motorradfahrers kommt. Motorcyclist comes.
Der Ablauf einer Ausgestaltung des erfindungsgemäßen Verfahrens ist in Fig. 1 dargestellt. Nach dem Start des Verfahrens in Block 100 wird in Block 101 überprüft, ob ein Eingriff eines Fahrerassistenzsystems erforderlich ist. Dies kann z.B. die Durchführung eines Notbremsvorgangs sein, nachdem ein Radarsensor eine unmittelbar bevorstehende Kollisionsgefahr festgestellt hat. Ist ein Eingriff erforderlich, dann wird zu Block 102 weitergegangen. Ist ein Eingriff dagegen nicht erforderlich, dann wird zu Block 100 zurückgegangen. The sequence of an embodiment of the method according to the invention is shown in FIG. After starting the method in block 100, a check is made in block 101 as to whether intervention by a driver assistance system is necessary. This can e.g. performing an emergency braking operation after a radar sensor has detected an imminent collision hazard. If an intervention is required, then it proceeds to block 102. On the other hand, if an intervention is not required, then it returns to block 100.
Bevor dieser Notbremsvorgang, welcher einen sehr starken Eingriff in die aktuelle Fahrdynamik des Motorrads bedeutet, durchgeführt wird, wird in Block 102 überprüft, ob der Fahrer beide Hände an der Lenkstange hat. Dies erfolgt vor dem Hintergrund, dass die Durchführung eines Notbremsvorgangs zu einem völlig unkontrollierten fahrdynamischen Verhalten des Motorrads führen könnte, wenn der Fahrer nicht beide Lenkergriffe umfasst. Wird in Block 102 festgestellt, dass sich beide Fahrerhände an den Lenkergriffen befinden, dann wird in Block 104 der Notbremsvorgang durchgeführt. Ist jedoch mindestens ein Lenkergriff nicht mit einer Fahrerhand belegt, dann wird in Block 103 der Notbremsvorgang entweder nur in einer stark abgeschwächten Form durchgeführt oder sogar unterdrückt. Before this emergency braking operation, which means a very strong intervention in the current driving dynamics of the motorcycle is performed, it is checked in block 102, whether the driver has both hands on the handlebar. This is done against the background that the implementation of an emergency braking operation could lead to a completely uncontrolled driving dynamics behavior of the motorcycle, if the driver does not include both handlebar grips. If it is determined in block 102 that both driver's hands are located on the handlebar grips, then in block 104 the emergency braking operation is performed. However, if at least one handlebar grip is not occupied by a driver's hand, then in block 103 the emergency braking operation is either performed only in a strongly attenuated form or even suppressed.

Claims

Ansprüche claims
1. Verfahren zur fahrerunabhängigen Durchführung einer 1. Method for driver-independent implementation of a
Fahrerassistenzfunktion bei einem zweispurigen Kraftfahrzeug, bei dem mittels erster Sensormittel ermittelt wird, ob die Fahrerassistenzfunktion durchgeführt werden soll (101),  Driver assistance function in a two-lane motor vehicle in which it is determined by means of first sensor means whether the driver assistance function is to be carried out (101),
mittels zweiter Sensormittel ermittelt wird, ob der Fahrer beide Hände an den Lenkergriffen hat (102) und  is determined by means of second sensor means, whether the driver has both hands on the handlebars handles (102) and
für den Fall, dass der Fahrer beide Hände an den Lenkergriffen hat, die Fahrerassistenzfunktion durchgeführt wird (104).  in the event that the driver has both hands on the handlebars, the driver assistance function is performed (104).
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass für den Fall, dass der Fahrer wenigstens eine Hand nicht an einem Lenkergriff hat, die 2. The method according to claim 1, characterized in that in the event that the driver has at least one hand not on a handlebar grip, the
Fahrerassistenzfunktion in einer modifizierten Form durchgeführt wird (103).  Driver assistance function is performed in a modified form (103).
3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei der Fahrerassistenzfunktion um eine Notbremsung handelt. 3. The method according to claim 1, characterized in that it is an emergency braking in the driver assistance function.
4. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei den ersten Sensormitteln um eine Videosensorik, eine Radarsensorik, eine Ultraschallsensorik oder eine Lidarsensorik handelt. 4. The method according to claim 1, characterized in that the first sensor means are a video sensor system, a radar sensor system, an ultrasonic sensor system or a lidar sensor system.
5. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei den zweiten Sensormitteln ebenfalls um eine Videosensorik handelt. 5. The method according to claim 1, characterized in that it is also a video sensors in the second sensor means.
6. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei den zweiten Sensormitteln um in die Lenkergriffe integrierte kapazitive Sensoren, induktive Sensoren, Temperatursensoren, Drucksensoren oder optische Sensoren handelt. 6. The method according to claim 1, characterized in that the second sensor means are integrated into the handlebar grips capacitive sensors, inductive sensors, temperature sensors, pressure sensors or optical sensors.
7. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass es sich bei der modifizierten Form der Fahrerassistenzfunktion um eine Form mit abgeschwächten Regelungseingriffen handelt. 7. The method according to claim 2, characterized in that it is in the modified form of the driver assistance function is a form with attenuated control actions.
8. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass für den Fall, dass der Fahrer wenigstens eine Hand nicht an einem Lenkergriff hat, eine Fahrerwarnung ausgegeben wird. 8. The method according to claim 1, characterized in that in the event that the driver has at least one hand not on a handlebar grip, a driver warning is issued.
9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass es sich bei der Fahrerwarnung um einen Warnruck handelt. 9. The method according to claim 8, characterized in that it is a warning pressure in the driver warning.
10. Vorrichtung, enthaltend Mittel, die speziell zur Durchführung der 10. Device containing means specifically for carrying out the
erfindungsgemäßen Verfahren ausgestaltet sind.  inventive method are configured.
PCT/EP2016/067043 2015-09-10 2016-07-18 Method for performing a driver-independent driver assistance function in a two-track motor vehicle WO2017041944A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015217257.0A DE102015217257A1 (en) 2015-09-10 2015-09-10 Method for the driver-independent implementation of a driver assistance function in a two-lane motor vehicle
DE102015217257.0 2015-09-10

Publications (1)

Publication Number Publication Date
WO2017041944A1 true WO2017041944A1 (en) 2017-03-16

Family

ID=56550214

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/067043 WO2017041944A1 (en) 2015-09-10 2016-07-18 Method for performing a driver-independent driver assistance function in a two-track motor vehicle

Country Status (2)

Country Link
DE (1) DE102015217257A1 (en)
WO (1) WO2017041944A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019130743A1 (en) 2017-12-28 2019-07-04 本田技研工業株式会社 Brake device for saddle-type vehicles
EP3653475A1 (en) * 2018-11-19 2020-05-20 Conti Temic microelectronic GmbH Method for operating an assistance system of a bicycle
US11535333B2 (en) * 2017-12-01 2022-12-27 Vitesco Technologies GmbH Means for operating a motorcycle, system and method for operating a motorcycle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10029683B1 (en) 2017-01-25 2018-07-24 Harley-Davidson Motor Company Group, LLC Saddle-ride vehicle with autonomous braking and method of operating same
DE102018221720A1 (en) * 2018-12-13 2020-06-18 Robert Bosch Gmbh Method and device for performing autonomous braking in a single-track motor vehicle
DE102019211919A1 (en) * 2019-08-08 2021-02-11 Robert Bosch Gmbh Method and device for adjusting the intensity of braking in a single-track motor vehicle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201183550Y (en) * 2008-02-03 2009-01-21 柯凯汶 Hands-off preventing safety alarm for bicycle
GB2461200A (en) * 2007-07-06 2009-12-30 Richard Alan Clews Motorcycle warning system activated by inboard movement of a hand or arm along a handlebar
CN103600792A (en) * 2013-11-07 2014-02-26 陕西科技大学 Electric bicycle single-hand-riding prompting and active safety protecting system and method
DE102012217137A1 (en) * 2012-09-24 2014-05-28 Bayerische Motoren Werke Aktiengesellschaft Steering unit for assistance system for i.e. motor cycle, has first and second function generators for producing variable predefined signals by gripping of first handle portion and second handle portion
WO2015124552A1 (en) * 2014-02-18 2015-08-27 Jaguar Land Rover Limited Autonomous driving system and method for same

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010033744B4 (en) 2010-08-07 2024-12-05 Volkswagen Aktiengesellschaft Method and device for freehand driving detection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2461200A (en) * 2007-07-06 2009-12-30 Richard Alan Clews Motorcycle warning system activated by inboard movement of a hand or arm along a handlebar
CN201183550Y (en) * 2008-02-03 2009-01-21 柯凯汶 Hands-off preventing safety alarm for bicycle
DE102012217137A1 (en) * 2012-09-24 2014-05-28 Bayerische Motoren Werke Aktiengesellschaft Steering unit for assistance system for i.e. motor cycle, has first and second function generators for producing variable predefined signals by gripping of first handle portion and second handle portion
CN103600792A (en) * 2013-11-07 2014-02-26 陕西科技大学 Electric bicycle single-hand-riding prompting and active safety protecting system and method
WO2015124552A1 (en) * 2014-02-18 2015-08-27 Jaguar Land Rover Limited Autonomous driving system and method for same

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11535333B2 (en) * 2017-12-01 2022-12-27 Vitesco Technologies GmbH Means for operating a motorcycle, system and method for operating a motorcycle
WO2019130743A1 (en) 2017-12-28 2019-07-04 本田技研工業株式会社 Brake device for saddle-type vehicles
US11554763B2 (en) 2017-12-28 2023-01-17 Honda Motor Co., Ltd. Brake device for saddle-type vehicles
EP3653475A1 (en) * 2018-11-19 2020-05-20 Conti Temic microelectronic GmbH Method for operating an assistance system of a bicycle

Also Published As

Publication number Publication date
DE102015217257A1 (en) 2017-03-16

Similar Documents

Publication Publication Date Title
WO2017041944A1 (en) Method for performing a driver-independent driver assistance function in a two-track motor vehicle
DE102016210452B4 (en) Method and device for a vehicle with an emergency assistance unit
WO2012038185A1 (en) Method and system for reducing a reaction delay time of a vehicle safety control device
EP4037941B1 (en) Method and device for carrying out a distance or speed-regulating function for a single-track motor vehicle
DE102013200044A1 (en) Method for executing emergency brake of emergency braking system in two-wheeler in event of hazardous situation, involves detecting vehicle state variable, driver parameter and environment parameter within defined range of values
DE102013202025A1 (en) Method and device for evasion support for a motor vehicle
WO2012119596A1 (en) Method for the predictive display of an evasive maneuver
WO2014037457A1 (en) Method and device for early warning fellow road and pavement users
WO2017028997A1 (en) Method and device for actuating at least one handlebar of a two-wheeled vehicle
DE102010060300A1 (en) Method for detecting danger situation of vehicle and response for elimination of danger situation, involves determining vehicle environment and feeding jolt in transverse direction of vehicle in travel direction
WO2015043865A1 (en) Method for operating a warning device of a vehicle, and warning device
DE102009023444A1 (en) Method for assistance of driver of vehicle in changing traffic lane from momentary traffic lane to adjacent target traffic lane, involves detecting traffic situation in rear and front area of vehicle for adjacent traffic lane by detectors
DE102011011120A1 (en) Method for assisting lane change of vehicle i.e. motor car, involves generating assisting torque to maintain trajectory change, and generating warning torque if deviation is classified as impermissible deviation
WO2015117611A2 (en) Method and device for safely parking a vehicle
DE102014208026A1 (en) METHOD AND DEVICE FOR WARNING TRANSPORT PARTICIPANTS
WO2017198367A1 (en) Method and device for carrying out an avoidance maneuver for a motor vehicle
EP3994039B1 (en) Method and device for carrying out autonomous braking in a single-track motor vehicle
DE102012203648B4 (en) Method and device for supporting an evasive maneuver in a single-track motor vehicle
DE102016225497A1 (en) Method and device for generating a steering movement for reducing a predicted accident damage
DE102016213756A1 (en) Method and device for safe operation of a motor vehicle
DE102014006261A1 (en) A method for defusing an emergency situation in a moving motor vehicle and a lane departure warning for a motor vehicle
DE102013212477A1 (en) Method and device for operating a motor vehicle, computer program product
DE102015217256A1 (en) Method and device for carrying out an emergency braking operation in a single-track motor vehicle
DE102017200376B4 (en) Method for performing emergency braking, driver assistance system for a motor vehicle and motor vehicle
WO2014121973A1 (en) Method for preventing a motor vehicle from having a lateral collision

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16742235

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16742235

Country of ref document: EP

Kind code of ref document: A1