DE102004022266A1 - Safety system for automobiles uses sensor system to detect potential crash situations and influences control pedals - Google Patents

Abstract

The automobile is fitted with a range of sensors [10] that provide radar, video and other information regarding road conditions. The data is processed [20] to provide collision danger information. The output is used to influence the brake and accelerator pedals [30].

Description

technical area

The The present invention relates to a security system, in particular Accident avoidance system, according to the preamble of claim 1 and a method for operating such Security system.

The Active safety is one of the priorities in development current and future Vehicle systems. Known systems in the field of active safety, this means for accident prevention, for example, the electronic stability program (so-called E [lectronic] S [tability] P [rogramme]) for vehicle stabilization Brake intervention in the dynamic range of the vehicle and V [ehicle] D [ynamic] M [anagement] as an extension of the ESP by additional steering interventions.

Next Systems for vehicle stabilization are also systems for triggering a Emergency braking known in the detection of a risk of collision, for Example based on environment detection with radar and / or video sensors, automatically intervene.

Of Another is with respect to security systems and methods of mentioned in the beginning, that it is possible to Navigation data for Functions outside to use the pure vehicle navigation in the means of transportation; This happens, for example, in the integration into A [utomatic] C [ruise] C [ontrol] systems or in automatic accident emergency systems.

So For example, WO 93/17406 A1 discloses a navigation device as well as a method for the output of route information for drivers of land vehicles, in particular of passenger cars and lorries. in this connection geographic data are compared with current driving data, and the driver becomes dangerous Warned situations.

According to the document WO 93/17406 A1 is the for the safe driving through a route to be observed limit speed from the stored geographical data relating to the route calculated, and under or exceeded the limit speed is informed to the driver.

From the publication DE 100 51 745 A1 a method for estimating the curvature of a selected, especially in the direction of travel in front of a vehicle path section is known, the course of the path is stored in the form of bases in a digital map; the curvature of the selected path segment is determined from the interpolation points.

Furthermore, according to the document DE 100 51 745 A1 a curvature estimate is provided based on a circle approximation or a spline interpolation or approximation of the actual path course due to the support points.

Presentation of the invention: Task, solution, advantages

outgoing from the disadvantages and shortcomings set out above as well as in appreciation of the prior art is the present invention The task is based on a security system of the aforementioned To further develop the type and a method of the type mentioned above, that both device-wise and procedurally after possibility without using an additional Sensor technology a driver assistance function is developed in longitudinal traffic, by means of which in particular a warning expression in case of potential danger can be provided.

These The object is achieved by a security system with the specified in claim 1 Characteristics and by a method with the specified in claim 6 Characteristics solved. Advantageous embodiments and expedient developments of the present Invention are characterized in the respective subclaims.

At the Security system according to the present Invention or in the method according to the present invention determines the evaluation unit from that of the registration unit in the form of data and information, in particular Navigation conditions, at least one driving variant or at least a driving suggestion to the leader of the means of transport at least one of the accelerator pedals, for example via the brake pedal and / or via the Accelerator pedal and / or over the clutch pedal (if any) is mediated.

• – durch die Widerstandsänderung eines haptischen Gaspedals und/oder
• – durch die Anpassung der Gaspedalkennlinie im Motorsteuergerät und/oder
• – durch mindestens ein optisches und/oder akustisches Signal
• – oder durch die Kombination dieser Aktionen gewarnt werden.

Thus, the present invention is based on the assistance of the driver in longitudinal traffic on the basis of navigation data, with a preferably haptic feedback via the accelerator pedals. In this context, the driver can, for example

• By the change in resistance of a haptic accelerator pedal and / or
• - By adjusting the accelerator characteristic in the engine control unit and / or
• - by at least one optical and / or acoustic signal
• - or be warned by the combination of these actions.

Independent of this or in conjunction therewith, according to the invention, a warning of the driver done when based on a situational assessment algorithm On navigation and ego vehicle data is detected that the driver to To avoid a potential danger, leave a comfort driving range got to.

According to one Essential to the invention development of the present invention is the follow-up traffic by Voranansteuerung the brake lights of the Means of transport warned when using a situation assessment algorithm has recognized that the driver has to brake to avoid an accident.

• (i) Der Führer des Fortbewegungsmittels überschreitet ein allgemeines oder örtliches Geschwindigkeitslimit (, sofern diese Informationen in den Navigationsdaten verfügbar sind).
• (ii) Der Führer des Fortbewegungsmittels befährt eine kurvenreiche Straße, ohne dabei ein zu definierendes Komfortmaß zu verlassen, wobei die Geschwindigkeit zum Durchfahren der vor dem Führer des Fortbewegungsmittels liegenden Kurve zu hoch ist.
• (iii) Der Führer des Fortbewegungsmittels fährt zu schnell auf eine Kreuzung zu.
• (iv) Der Führer des Fortbewegungsmittels fährt mit nicht angepasster Geschwindigkeit auf einen Stau zu, speziell wenn das Ende dieses Staus hinter einer Kurve oder hinter einer Kuppe liegt.

The present invention can be used, for example, in the following traffic situations:

• (i) The operator of the means of transport exceeds a general or local speed limit (if this information is available in the navigation data).
• (ii) The operator of the means of locomotion travels a winding road without leaving a measure of comfort to be defined, the speed of driving through the curve ahead of the driver of the vehicle being too high.
• (iii) The operator of the vehicle is moving too fast towards an intersection.
• (iv) The operator of the vehicle will approach a jam at an improper rate, especially if the end of the jam is behind a curve or behind a crest.

at The traffic situations (ii), (iii) and (iv) may also be described in Preferably, the brake light are driven when an algorithm to assess the situation, that the driver has to brake, to avoid an accident.

at an advantageous embodiment the present invention sends the evaluation unit in case of danger especially at high risk of collision, at least one acoustic, haptic and / or optical warning signal and / or derives an A [N] o [ot] B [remsung] if no alternative driving variant or no other driving suggestion, in particular no evasion trajectory is available.

advantageously, parameterizes, prepares and / or activates the safety system according to the above in particular, the evaluation unit according to the above set forth, and / or the method according to the manner set out above in case of danger, especially at high risk of collision, the pedal system the means of transport and / or the chassis of the means of transport, so that the driving behavior of the means of transport for a through the leader the means of transport to be carried out, in particular emergency braking, is optimized.

The Finally, the present invention relates to the use of at least a security system according to the above and / or a method as set forth above Type in at least one driver assistance system and / or in at least a navigation system to increase safety, especially to avoid accidents, in the Road traffic. So For example, an emergency braking system (so-called A [utomatic] N [ot] B [remse]) be extended in the sense of the present invention by pedal actuators.

Short description the drawings

As already discussed above, there are various possibilities for embodying and developing the teaching of the present invention in an advantageous manner. For this purpose, reference is made on the one hand to the claims subordinate to claims 1 and 6, on the other hand further embodiments, features and advantages of the present invention will be described below with reference to 1 illustrated embodiment explained in more detail.

It shows:

1 a schematic representation of an embodiment of a security system according to the present invention, which operates according to the method according to the present invention.

Best way to execute the invention

In 1 is the schematic workflow of a security system 100 shown for pedaling and / or pedal support. The function is to assist the driver in choosing the right speed on unfamiliar roads.

In a first step, internal and external conditions, namely the parameters and the environment of a motor vehicle, are recorded. To implement this function, the security system 100 a detection unit 10 for environment detection; this environment detection unit 10 works on radar sensor basis 12 as well as on a video sensor basis 14 ,

In addition, within the scope of the registration unit 10 by means of other sensors 16 additionally records data and information about the traveled road, for example data and information about the number and width of the lanes as well as about the position of the own vehicle and a potential collision opponent relative to the lanes. Also, data and information become a digital map 18 , for example, a navigation system, in the surroundings detection 10 included.

• – auf einem statischen Speichermedium, wie zum Beispiel auf einer C[ompact]D[isc]-R[ead]O[nly]M[emory] oder auf einer D[igital]V[ersatile]D[isc] oder
• – basierend auf Online-Daten und -Informationen, zum Beispiel aus dem Internet oder von Verkehrsleitsystemen, in einem dynamischen Speicher, wie etwa in einem R[andom]A[ccess]M[emory], hinterlegt sein.

The navigation data and information used for this purpose can

• On a static storage medium, such as on a C [ompact] D [isc] R [ead] O [nly] M [emory] or on a D [igital] V [ersatile] D [isc] or
• - Based on online data and information, for example, from the Internet or traffic control systems, in a dynamic memory, such as in a R [andom] A [ccess] M [emory] deposited.

The captured or navigation data based conditions are in the form of data and information through a data fusion module 22 fused and then by an assessment module 24 evaluated with respect to the respective hazard potential, in particular the risk of collision is determined for the means of transportation.

Thus, with the help of sensors 10 Objects detected in front of, beside and behind the vehicle, by means of the data fusion module 22 merged and with the help of the evaluation module 24 evaluated for a risk of collision for the vehicle.

After determining the risk of collision, an algorithm is created, that is, using the data and information about obstacle and road are from a calculation module 26 cyclically calculates possible driving variants or driving suggestions that enable safe and stable driving.

From the representation of 1 can be seen here that the data fusion module 22 , the assessment module 24 and the calculation module 26 in an evaluation unit 20 are summarized.

Goal of the system 100 as well as of this system 100 Underlying procedure is now to warn the driver by actions that do not interfere directly with the longitudinal dynamics of the vehicle, if the driver has chosen a speed not adapted to the situation.

• – mit Hilfe eines haptischen Gaspedals wird der Fahrer bei nicht angepasster Geschwindigkeit durch einen erhöhten Pedalwiderstand gewarnt (Bezugszeichen 30 in 1);
• – durch die Anpassung der Umsetzung der Gaspedalkennlinie im Motorsteuergerät wird es dem Fahrer erschwert, eine noch höhere Geschwindigkeit zu fahren (Bezugszeichen 30 in 1);
• – der Fahrer wird optisch und/oder akustisch durch ein Warnsignal gewarnt.

If the situation assessment algorithm has identified a potential hazard, the warning may be as follows:

• - With the help of a haptic accelerator pedal the driver is warned at an unadjusted speed by an increased pedal resistance (reference numeral 30 in 1 );
• - By adjusting the implementation of the gas pedal characteristic in the engine control unit, it is difficult for the driver to drive an even higher speed (reference numeral 30 in 1 );
• - The driver is visually and / or acoustically warned by a warning signal.

The the above actions are not last for liability reasons - so interpreted that the driver ignore or override the actions can, for example, by exercising a kickdown on the gas pedal.

Furthermore, the security system 100 provided that the follow-up traffic is warned by Voranansteuerung the brake lights of the means of locomotion when the algorithm for assessing the situation has detected that the driver (not) has to brake to avoid an accident.

So when using 1 illustrated embodiment of the present invention, in a situation with high risk of collision a driving maneuver initiated by the leader of the means of locomotion, that is, the driver starts a driving maneuver by appropriate pedal operation, so it is proposed by a suitable Aktuierungssystem a driving variant, in particular a speed recommendation (reference numerals 30 ).

Thus, the driver is at or after associating the determination 26 the optimal driving variant with the introduction of the driving maneuver the optimal trajectory, such as an optimal avoidance trajectory proposed.

• – der vorgeschlagenen optimalen Trajektorie folgen kann oder
• – die vorgeschlagene optimale Trajektorie ignorieren bzw. übersteuern kann; ein Ignorieren bzw. eine Übersteuerung der vermittelten optimalen Trajektorie durch den Führer des Forbewegungsmittels ist also jederzeit möglich.

This optimal trajectory is conveyed to the driver in the form of an applied or applied pedal torque, wherein the driver

• - can follow the proposed optimal trajectory or
• - be able to ignore or override the proposed optimal trajectory; Ignoring or overriding the mediated optimal trajectory by the leader of the Forbewegungsmittels is therefore possible at any time.

there is the driver the optimal trajectory and / or the acted upon Pedal moment in the form of at least one haptic signal, for example in the form of at least one vibration or in the form of at least one Vibration, mediated.

At high risk of collision, the driver optionally be warned and / or supplemented for example by an audible, haptic and / or visual warning signal before the collision.

The fallback assistance in emergency situations is thus provided by the security system 100 (see. 1 ) detects and assesses the risk of collision with obstacles in front of one's own vehicle and calculates driving variants. If the driver initiates a driving maneuver, then the driver can be given a haptic pedal assistance, which proposes an optimal trajectory to him.

As further the representation according to 1 can be removed is detected when detecting a risk of collision of the evaluation unit 20 , in particular from the assessment module 24 , the pedal actuators and any existing active suspension parameterized or prepared (reference numeral 40 in 1 ), that the driving behavior of the vehicle is optimized for emergency braking maneuver, for example with respect to the position of the vehicle's center of gravity, with respect to the pedal characteristic, with respect to the damping or suspension and / or with respect to the roll stabilization.

At the security system 100 according to 1 thus follows the provision 24 the risk of collision is the optimization 40 the pedals (brake pedal, accelerator pedal, if necessary clutch pedal) and the landing gear for the emergency brake maneuver.

This proposed optimization system 40 the pedal operation and the suspension can as independent variant, that is without suggestion of a driving variant or, as in 1 shown to be constructed in combination with the at least one haptic pedal.

Claims (10)

Security system ( 100 ), in particular accident avoidance system, for at least one accelerator pedal, in particular at least one brake pedal and at least one accelerator pedal, having means of transport, in particular motor vehicle, comprising - at least one detection unit ( 10 ) for detecting internal and external conditions, for example of vehicle parameters and the vehicle environment, and - at least one evaluation unit ( 20 ) - to merge ( 22 ) of the registration unit ( 10 ) in the form of data and information and - for evaluation ( 24 ) of the acquired conditions or of the data and information with regard to the respective hazard potential, characterized in that the evaluation unit ( 20 ), in particular in the presence of a specific hazard potential, - determined from the data and information at least one driving suggestion ( 26 ) and - conveys this driving suggestion to the driver of the vehicle via the accelerator pedal ( 30 ). Safety system according to claim 1, characterized in that the driving suggestion via the accelerator pedal in the form of at least one haptic signal, in particular at least one vibration or at least one vibration, mediated ( 30 ), for example - in the form of at least one applied to the accelerator pedal or applied driving torque and / or - by changing the resistance of the accelerator pedal and / or - by adjusting the characteristic of the accelerator pedal, such as in the engine control unit. Safety system according to claim 1 or 2, characterized in that during or after initiation of a driving maneuver, in particular an emergency braking maneuver, by the driver of the means of locomotion the safety system ( 100 ), in particular the evaluation unit ( 20 ), this driving maneuver in optimized form, in particular in the form of an optimal driving suggestion, for example in the form of an A [utomatic] N [ot] B [remsung], pretends, supports and / or suggests. Security system according to at least one of claims 1 to 3, characterized in that the evaluation unit ( 20 ) in the event of danger, in particular in the event of a high risk of collision, - transmits at least one audible, haptic and / or optical warning signal and / or - triggers an A [utomatic] N [ot] reminder, unless another driving suggestion is available. Security system ( 100 ) according to at least one of claims 1 to 4, characterized in that the security system ( 100 ), in particular the evaluation unit ( 20 ), in case of danger, in particular in case of high risk of collision, - the pedal system of the means of locomotion and / or - the chassis of the means of transport parameterized, prepared and / or activated ( 40 ), so that the driving behavior of the means of transport for a driving maneuver to be performed by the driver of the means of transportation, in particular emergency braking maneuver, is optimized. Method for increasing safety, in particular for avoiding accidents, in road traffic, wherein ( 10 ) internal and external conditions, for example parameters and the environment, a locomotion by means of, in particular, a motor vehicle, 22 ) the collected conditions are merged in the form of data and information and ( 24 ) the detected conditions or the data and information are evaluated with regard to the respective hazard potential, characterized in that, in particular in the presence of a specific hazard potential, ( 26 ) at least one driving suggestion is determined from the data and information and ( 30 ) this driving recommendation is conveyed to the driver of the means of locomotion via the accelerator pedal. A method according to claim 6, characterized in that the driving suggestion on the accelerator pedal in the form of at least one haptic signal, in particular at least one vibration or at least one vibration conveys ( 30 ), for example - in the form of at least one pedal resistor applied to the accelerator pedal or applied to the accelerator pedal, and / or - by changing the resistance of the accelerator pedal and / or - by adjusting the characteristic of the accelerator pedal, such as in the engine control unit , Method according to claim 6 or 7, characterized in that, in particular for warning the Follow-up traffic, the brake lights of the means of transport in advance when an algorithm for situation assessment, in particular for evaluating the recorded conditions or the data and information regarding the respective hazard potential, has realized that the leader of the Means to avoid an accident has to be slowed down. Method according to at least one of claims 5 to 8, characterized in that at risk, in particular at high risk of collision, - the pedal system of the means of locomotion and / or - the chassis of the means of transport parameterized, prepared and / or activated ( 60 ) is optimized, so that the driving behavior of the means of transport for a driving maneuver to be performed by the driver of the means of transport, in particular emergency braking maneuver, is optimized. Use of at least one security system ( 100 ) according to at least one of claims 1 to 5 and / or a method according to at least one of the claims 6 to 9 in at least one driver assistance system and / or in at least one navigation system for increasing safety, in particular for avoiding accidents, in road traffic.