publication number DE102009028451 (A1)
Release date: 2011-02-17
Inventor: Zeller, Jörg [DE]; LATSCH NICO [DE]; SCHLIEMANN MIKE [DE]; KLOSS FLORIAN [DE] + (ZELLER, JOERG; LATSCH , NICO; SCHLIEMANN, MIKE; KLOSS, FLORIAN)
Applicant: BOSCH GMBH ROBERT [DE] + (ROBERT BOSCH GMBH)
Classification:
International: B60W30/06; B60W30/08; G08G1/16
European: B60W50 / 08K; G08G1/16
Application number: 20,090,811 DE200910028451
Priority number (s): DE200910028451 20,090,811
The EPA is not responsible for the accuracy of Data coming from other authorities than the EPO, and thus in particular not liable for its completeness, timeliness or fitness for a particular purpose. Information, please refer to the respective patent authorities.
this text translated description of DE 102009028451 (A1)
FIELD
[0001] The present invention relates to a method and apparatus for collision detection for motor vehicles, with a surrounding region of the motor vehicle by means of object sensors is monitored.
art
[0002] The published patent application DE 10 2006 002 232 A1 discloses a method and apparatus monitoring for collision with a motor vehicle, whereby at every stop of the vehicle first produced a fix in the area surrounding objects located as a reference state. At regular intervals or when certain events occur, such as, for example, at a starting request of the driver, other than position information states is determined. If a comparison of the respective current state is detected with the reference state that has at least approximately an object to the motor vehicle is a potential collision is detected and issued a warning to the driver.
[0003] In this method, the drivers have to meet a possible collision Each article warned, located in the surrounding area and approaches identified by comparing with the reference condition of the vehicle. Thus, also opened doors create the motor vehicle, trailer or the like collision warning, though emanating from these objects no risk of collision.
[0004] Furthermore, warned the known from DE 10 2006 002 232 A1 process also against objects that are indeed within the vicinity of the vehicle and approaching them, the motor vehicle, but do not lie in the direction of travel of the vehicle and of which therefore also no danger of collision posed as the motor vehicle in the direction desired by the driver of these objects will move away.
[0005] In summary, the known method therefore has the disadvantage that, even with items where no collision risk posed unnecessary warnings may be generated.
[0006] It is therefore an object of the present invention to provide an improved method and apparatus for improved collision detection for a motor vehicle, which can be avoided unnecessary warnings to the driver.
disclosure of the invention
[0007] This object is achieved by the method according to claim 1, through the device according to claim 8 and by the computer program according to claim dissolved 9th
[0008] Further, preferred embodiments of the invention disclosed in the dependent claims.
[0009] According to a first aspect, a method for collision detection is provided for a motor vehicle with a predetermined peripheral region is monitored. The method includes the steps of:
- providing a position and direction indication of at least one in the surrounding area located object;
- providing a vehicle information indicating at least one position of a vehicle component and / or a direction desired by the driver;
- identifying an object if under the vehicle information it is determined that from the object no risk of collision for the vehicle starts, and
- signaling a collision risk if due to the position and movement direction indicating the approach of an unmarked object is detected on the vehicle.
[0010] The inventive method can thus be assured that is in front of objects, none of which posed no risk of collision, warning unnecessary. For example, proceeds from a closing car door is no risk of collision for the vehicle, although they are closer to the motor vehicle and thus produce a conventional method, a collision warning would. When the inventive process, the Vehicle door to be characterized as a vehicle component, and generates no collision warning.
[0011] Further, a direction desired by the driver is evaluated so that will not be warned of objects that will not collide, the motor vehicle because of the current or desired direction of travel, even if both these objects closer to the vehicle.
[0012] Here, a risk of collision will be signaled when an unmarked object would collide due to its relative position and its movement toward the vehicle with the motor vehicle.
[0013] Additionally, in signaling a risk of collision, the distance the object are taken into account by the vehicle, so be signaled by, for example, only those objects as a collision hazard, which have more than a predetermined maximum distance from the vehicle.
[0014] can further be provided that a risk of collision is signaled only when the unmarked object would collide due to its relative speed of movement to the motor vehicle within a predetermined time in the car.
[0015] It can be provided here, an object to be labeled if it is the object is a vehicle component is, which is located in the surrounding area. The vehicle component may be moving here Vehicle components, shall include vehicle doors.
[0016] Alternatively or additionally be provided that an object is identified, if due to an indicator signal and / or a steering wheel angle and / or a yaw angle and / or speed step selection of a direction desired by the driver can be identified and if the object outside of an area from which it is run over by motor vehicle in the desired direction of travel
[0017] In one embodiment of the inventive process, the provision of position and direction indication of at least one in the area surrounding object located during the standstill of the motor vehicle is carried out be. Result, a collision detection are implemented in particular when starting the vehicle, and it is especially a risk of collision can be signaled, for example, when using the position of the brake and / or accelerator and / or by the position of the drive train of a manual or automatic transmission is starting request the driver is detected. can
[0018] In a further embodiment of the inventive method providing the position and direction indication of at least one in the surrounding area located object while driving the vehicle will be carried out and, even during the travel of the motor vehicle collision monitoring be made possible. can
[0019] Upon detection of a possible collision, a warning will be issued to the driver, and it may be an audible, visual and / or haptic warning signal.
[0020] According to a first aspect, an apparatus for collision detection is provided for a motor vehicle. The device comprises:
- at least one object sensor to monitor a given environment area;
- a control unit which is designed to:
- to provide a position and direction indication of at least one in the surrounding area located object;
- a vehicle information, which at least one item a vehicle component and / or a direction desired by the driver indicates to provide, and
- to identify the object, if it is determined based on the vehicle information that emanates from the object is no risk of collision for the vehicle, and
- a signaling device to signal a risk of collision, if due to position and movement direction indicating the approach of an unmarked object is detected on the vehicle.
short description of the drawings
[0021] A preferred embodiment of the present invention is exemplified with reference to the accompanying drawings. Shows
[0022] 1 is a schematic representation a motor vehicle collision with a device for monitoring according to an embodiment of the present invention, and
[0023] 2 is a flow diagram illustrating a method for collision monitoring according to an embodiment of the present invention.
embodiment of the invention
[0024] In one is a motor vehicle 10 shown schematically with a plurality of object sensors 12. The object sensors 12 might include ultrasonic sensors, radar sensors, laser sensors, infrared sensors or any other suitable object type sensors. Each object sensor 12 has a detection area D, as shown in Figure 1 by dashed lines. The individual Areas of object detection sensors 12 D overlap or complement each other in such a manner that define the total area of all detection regions D a peripheral region 14 of the motor vehicle 10. can
[0025] The object sensors 12 detect the presence of objects 18 in the surrounding area 14 of the motor vehicle 10 and may continue to be designed so that they can also determine the distance or the distance between each object 18 and the motor vehicle 10. Furthermore, an Winkellagebestim approval of the object 18 to be carried out relative to the vehicle 10 by the object sensors 12.
[0026] A control unit 16 is connected to the object sensors 12 and receives of this position information of the detected objects, which indicates the position of one or more detected objects. From the position information of the object sensors 12 the control unit 16 determines the position of an object detected by the sensors 12 object 18 in the surrounding region 14 of the motor vehicle 10. Here, the presence or absence of objects 18 in each of the regions D object detection sensors are identified 12, or can the distance of each object 18 from the motor vehicle 10 and its direction relative to the vehicle will be determined 10th Furthermore it can be determined from the position information the position of each object 18 in a suitable coordinate system to the vehicle 10 in the control unit 16.
[0027] Alternatively or additionally, the speed and direction of motion of the object 18 are determined relative to the motor vehicle 10. The movement direction can be determined for example by determining a motion vector from two different time points detected positions of the object, while the distance between the positions and the time period between the time points indicating the speed of the object. Alternatively, the relative velocity of the object relative to the object sensor 12 are determined, for example, using the Doppler effect in a conventional manner.
[0028] The following describes the operation of the device described above with reference to the flow chart of 2 illustrates. In this case, is performed in the control unit 16, the method described below.
[0029] First in step S1, a reference position information determined. This position information of one or more objects 18 in the surrounding region 14 provides the motor vehicle 10 with the help of the object sensors 12. A reference position information of an object 18 can in this case the presence of an object in a detection range D of an object sensor 12 include and / or the distance of the object 18 from the motor vehicle 10 and / or the direction of the object 18 from the motor vehicle 10
[0030] If, in determining the reference position information 18 are no object in the surrounding area 14 may, instead of the reference position information an object of one or several preset distance values are used. Such a preset distance value, for example, for each detection area D of an object sensor 12 equal to the length of each detection area D.
[0031] In step S2, the vehicle information provided. This vehicle information on the one hand positions of vehicle components, ie components that are located on the vehicle and one or more of the object sensors 12 in whole or in part can be detected, such as shown schematically in an open door to the motor vehicle 10 coupled trailer or like state. Alternatively or additionally, the vehicle information Direction information includes, if you want due to a signal of a turn signal of the motor vehicle 10 or by evaluating a steering wheel angle or yaw angle, or by evaluating a speed step selection (for example, engaging a reverse gear) is recognized that the driver of the vehicle 10, a specific direction take.
[0032] In step S3 is determined using the vehicle information for each object in the surrounding region 14 is 18, whether emanating from the object 18, a collision risk to the motor vehicle 10. For example, can be determined from the corresponding vehicle information, whether it is the object 18 is a vehicle component, while the position of the object 18 with is matched to the positions determined in step S2 of vehicle components.
[0033] Furthermore, using a step S2 determined the vehicle information indicating a direction desired by the driver, and will be based on a well the data on the vehicle speed, a driving range that the vehicle in a specific (at the current time subsequent) time window runs over. In a straight line corresponds to the driving range, for example, an area adjacent to the front of the vehicle and its size is determined by the width of the vehicle and the length from the vehicle speed and the length of time window results. It is can be determined whether the object is 18 in the driving range that the vehicle 10 when it moves in the evaluation of step S2 specific direction of travel.
[0034] If in step S3 it is determined that the object is 18, a vehicle component, it is marked in step S4. If the object 18 is outside the traffic area, this object is also marked in step S4. Such identification may include placing an object flags for the given object, the object is clearly defined by its specific position in step S1. Ty for different groups of objects (such as vehicle components or Objects that are not in the direction of the motor vehicle 10) may be different types of object flags or different values of a parameter identification can be provided.
[0035] In step S5 a position statement of the objects is determined 18 in the surrounding area 14. This step is carried out at predetermined intervals or when predetermined events, such as when using the position of the brake and / or accelerator and / or by the position of the drive train of a manual or automatic transmission is starting request of the driver is detected.
[0036] Here, the positions of objects located in the surrounding region 18 requires. As with the determination of the reference-position information in step S2, also may position information of the object 18 are determined in a suitable coordinate system, or it can be a distance value and / or an indication of the direction and / or a relative speed and / or a direction of movement of the object 18 are determined relative to the motor vehicle 10.
[0037] In the step S1 in specific reference position information determined in step S5 and the actual position information is then compiled for each object 18 in the surrounding region 14, a position and movement direction information. A movement direction of each object 18 relative to the motor vehicle 10 can either be done by comparing the actual-position information with the reference position information, or a direction of movement and movement speed of each object 18 can for example be determined directly using the Doppler effect by the object sensors 12.
[0038] In step S6 it is determined by evaluating the position and movement direction information for each object 18 in the surrounding area 14, whether an object has at least approximately 18 to the motor vehicle 10. This is the case both detects that an object 18, which was already in the determination of the reference position information in the surrounding region 14 of the motor vehicle 10, has moved to the motor vehicle 10 to, as also the case that an object 18, which is in determining the reference position information is not in the surrounding area 14, was in the surrounding area has moved 14th
[0039] When no object has approximately 18 to the motor vehicle 10, the process is completed, since no risk of collision has been detected.
[0040] In step S6 it is determined that at least one object has approximately 18 to the motor vehicle 10 is checked in step S7, whether this is a tagged object on which, in step S4 a Objektflag set was is. If you can set using the object flags is that of the object 18 assumes no risk of collision, although it has moved closer to the motor vehicle 10, the process is completed, since no risk of collision has been detected.
[0041] If in step S7 found is that there is a possible conflict of endangering object 18, since this object 18 is not in step S4 has been identified, a risk of collision detected and in step S8 information about a possible collision provided and / or audible and / or optical and / or haptic warning issued to the driver.
[0042] It is conceivable that, depending on different situations of the motor vehicle 10 different warning signals are issued. For example, are issued during the standstill of the motor vehicle 10, a first warning signal when a collision risk is detected, and it may be issued a second warning signal, if in addition a starting request of the driver is detected.
[0043] Instead of a reference position information, which is determined from the distance of the surrounding area 14 object located 18 of the motor vehicle 10 can, independently of the presence and position of objects 18 in the peripheral region 14 of the motor vehicle 10 is a fixed, predetermined Reference distance as the reference points will be accepted.
[0044] In this case, in step S6 checks whether an object 18 to the motor vehicle 10 has a shorter distance than the reference distance and which approximates to the motor vehicle 10. If this is the case, is, as described above, checked in step S7, whether it is the Object 18 is the vehicle for a hazardous object and, if in step S8 a warning issued.
QUOTES INCLUDED IN THE DESCRIPTION
[0045] This list of references cited by the applicant was automatically generated and is intended solely to improve the reader's included. The list is not part of the German patent or utility model. The DPMA is not responsible for any errors or omissions.
cited patent literature
[0046]
- DE 102 006 002 232 A1 [0002, 0004]
collision detection for a motor vehicle
Technische und wissenschaftliche Übersetzungen
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