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CN110225853A - 与横向交通避免碰撞 - Google Patents

与横向交通避免碰撞 Download PDF

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CN110225853A
CN110225853A CN201880008208.4A CN201880008208A CN110225853A CN 110225853 A CN110225853 A CN 110225853A CN 201880008208 A CN201880008208 A CN 201880008208A CN 110225853 A CN110225853 A CN 110225853A
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collision
risk
cross traffic
brake regulation
functional module
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A·福金
C·科克
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Bayerische Motoren Werke AG
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    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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    • B60—VEHICLES IN GENERAL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • 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
    • B60W2554/00—Input parameters relating to objects

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Abstract

按照本发明的用于使目前正在后退或前进行驶的(特别是正在驶出停车位的)机动车与横向交通避免碰撞的方法，所述方法包括以下步骤：‑识别是否与横向交通存在碰撞危险；‑确定最后可能的制动干预，所述制动干预用于在与横向交通存在碰撞危险的情况下确保避免碰撞，并且‑在识别出碰撞危险的情况下自动地最后可能地引入用于避免碰撞的制动干预，如果以此确保避免碰撞的话。

Description

与横向交通避免碰撞
技术领域
本发明涉及一种用于使目前正在后退或前进行驶的机动车与横向交通避免碰撞的方法，例如在从横向停车位后退或前进驶出停车位时或在从入口驶出时。
背景技术
从现有技术已知用于避免碰撞的方法，在这些方法中驾驶员在驶出停车位时在识别出由于横向交通而存在碰撞危险的情况下收到警告指示。这也以概念“后方交叉路口交通警示系统(Rear Cross Traffic Alert)”(RCTA)已知。
大陆集团(Continental)例如在链接“http：//www.continental-automotive.de/www/automotive_de_de/themes/passenger_cars/chassis_safety/adas/rcta_de.html”中提供这种系统：“驶出停车位辅助系统(后方交叉路口交通警示系统(RCTA))使用与在车辆死角识别(盲点探测(Blind Spot Detection)，BSD)中相同的雷达基础设施并且可以避免在驶出停车位时的事故，这些事故经常导致严重的碰撞，并且还可能导致人员伤亡。新的功能基于两个近场雷达传感器，这些近场雷达传感器分别检测120度的角度。如果驾驶员辅助系统识别出即将碰撞，则利用报警音和在车内后视镜中的LED使驾驶员注意。车辆的自动制动也是一种可能的措施。”
一种由文献DE 10 2012 208 998 A1已知的方法用于使机动车与横向交通避免碰撞，在所述方法中，例如进行从横向停车位后退驶出停车位的过程。在此确认是否存在与横向交通的碰撞危险。车辆在识别出碰撞危险的情况下会根据之前的行驶方向自动地沿前进方向或后退方向移回一定的路程，以便避免与横向交通碰撞。备选地，该方法可以在从入口(例如从住宅)前进驶出时使用。优选地，在移回之前借助于车辆制动器实现车辆的自动制动。横向交通例如涉及机动车、自行车或行人。
文献DE 10 2012 208 998 A1由此出发，即，其已知在车辆从停车空隙中驶出停车位时借助于探测器来探测横向于车辆运动的物体并且在存在危险时激活警报装置，该警报装置向驾驶员通知横向于本车辆运动的阻碍物体。也已经考虑到了如下可能性，即，附加于驾驶员警报自动地激活车辆的延迟装置并且使本车辆制动直至静止，以便避免与正在横向行驶的车辆碰撞。
发明内容
本发明的目的是改善由现有技术已知的用于避免碰撞的方法和系统。
该目的通过独立权利要求的特征实现。有利的实施方式在从属权利要求中描述。
按照本发明的用于使目前正在后退或前进行驶(特别是正在驶出停车位)的机动车与横向交通避免碰撞的方法包括如下步骤：
-识别是否与横向交通存在碰撞危险；
-确定最后可能的制动干预，所述制动干预用于在与横向交通存在碰撞危险的情况下确保避免碰撞，并且
-用于在识别出碰撞危险的情况下自动地最后可能地引入避免碰撞的制动干预，如果以此确保避免碰撞的话。
所述方法还优选地包括如下步骤：
-确定操纵加速踏板的速度和/或斜度，并且
-如果操纵加速踏板的速度或斜度超过预定的阈值，则与碰撞危险无关地阻止自动的制动干预。
所述方法还优选地包括如下步骤：
-确定车辆速度，并且
-如果车辆速度超过预定的阈值，则与碰撞危险无关地阻止自动的制动干预。
本发明基于以下考虑：
功能交叉路口交通警示(Cross Traffic Alert)(CTA)在驶出停车位时警告驾驶员注意横向交通物体，以便在避免碰撞时支持驾驶员。如果驾驶员未及时自主地对警告作出反应，则他可能与横向交通发生碰撞。
按照本发明，功能CTA补充了主动的制动部分功能。该功能识别出横向交通的物体并且这样制动车辆，使得其在横向交通物体的行驶路径前以安全距离到达静止状态。所述功能由车辆组件的当前的反应距离和制动距离计算最晚可能的时刻，在此时刻必须引入制动，以便可靠地避免碰撞。在驾驶员对功能CTA之前的警告缺少反应的情况下，制动部分功能自动地实施制动并且使驾驶员信服该干预。驾驶员可以随时通过使车辆加速来超控该功能并且因此在所识别出的物体前插入到横向交通中。因此，如果驾驶员未对危险情况自主地作出反应，则以此能够有效地避免事故。
用于按照本发明的方法的上述各实施方式以相应的方式也适用于按照本发明的系统，并且反之亦然。以下，按照本发明的系统的有利的实施例也对应于按照本发明的方法的有利的实施例，并且反之亦然。
附图说明
以下借助于附图和借助于实施例来更详细地描述本发明。图中：
图1示出一种典型的从横向停车位中驶出停车位的情况，以及
图2示意性地示出一种具有按照本发明的系统的机动车，所述系统用于实施示例性的用于在驶出停车位时与横向交通避免碰撞的方法。
具体实施方式
图1示出一种典型的前进或后退驶出停车位的情况，其中，驾驶员将机动车100从横向于街道101的方向设置的横向停车空隙中驶出。按照本发明，所述车辆100装备有用于与在街道101上正在运动的横向交通(此处是车辆102)避免碰撞的系统。特别是，所述系统包括具有相应的程序化的功能模块的电子控制器120(图2)。此外，车辆100的按照本发明的系统包括传感装置，所述传感装置例如设置在车辆100的尾部和前部的保险杠中并且与控制器120相连接。所述传感装置例如包括在车辆100的右后角、右前角、左后角和左前角的雷达传感器和/或超声波传感器和/或摄像机103至108。所述传感器103至108用于监控车辆100的处于行驶方向上的周围环境。附加地或备选地，所述传感装置可以包括一个或多个侧面摄像机。在控制单元120的分析装置中分析第一传感装置的信号，以便确认是否与横向交通(此处与车辆102)存在碰撞的危险。一旦在分析装置方面确认存在碰撞危险，则禁止驶出停车位的过程继续并且自动地制动车辆100，然而仅仅当由此能够可靠地阻止与车辆102碰撞时。
图2更详细地示出车辆100的电子控制单元120，所述电子控制单元相应地设计(特别是程序化)为用于执行以下示例性的用于与横向交通避免碰撞的方法。在步骤200中开始按照本发明的方法。所述方法例如通过在驾驶员方面起动马达来触发，因为这是对于开始驶出停车位的情况的标志。
在步骤201中确定，是否与横向交通102存在碰撞危险。此外在步骤202中确定对于自动的制动干预的最后可能的时刻，所述制动干预用于在与横向交通102存在碰撞危险的情况下确保避免碰撞。在步骤205中，在识别出碰撞危险的情况下自动引入用于避免碰撞的制动干预，如果由此确保避免碰撞的话。优选地，在步骤203中事先确定操纵车辆100的加速踏板的速度和/或斜度，并且如果操纵加速踏板的速度或斜度超过预定的阈值S1，则与碰撞危险无关地阻止自动的制动干预，以便例如不妨碍例如更为运动型的驾驶员或者以便设置逃生功能。
同样地，出于同一原因在步骤204中优选确定车辆100的车辆速度，并且如果车辆速度超过预定的阈值，则与碰撞危险无关地阻止自动的制动干预。
在步骤202中也在使用传感器105至108的情况下来探测车辆102，并且来识别与正在横穿驶出方向的车辆102的碰撞危险。此外，为了识别出碰撞危险，此外例如可以分析本车辆100伸入到正在横穿的车辆102所继续设想的行驶路径中多远。这在图1中通过距离e示出，该距离给出：沿着车辆102侧面边界的直线110伸出超过机动车100的边界线111多远。此外，可以在此考虑正在横穿的车辆102的速度和在车辆100与102之间的距离d。相应的功能模块由车辆组件的当前的反应距离和制动距离来计算最晚可能的时刻，在此时刻必须引入制动，以便可靠地避免碰撞。所述方法的各个步骤可以按照任何有意义的顺序执行。
在步骤205中车辆100自动制动时将自动地操纵车辆制动器，并且此外停用通过加速踏板的位置预定的驱动力矩，从而车辆100的驱动马达不再继续驱动。
特别是，按照本发明的系统因此包括电子控制单元120，所述电子控制单元与传感器103至108相连接，并且为了执行各方法步骤所述电子控制单元具有相应地程序化的功能模块。

Claims (6)

1.用于使目前正在后退或前进行驶的机动车(100)与横向交通(102)避免碰撞的方法，所述方法包括如下步骤：
-识别是否与横向交通(102)存在碰撞危险；
-确定最后可能的制动干预，所述制动干预用于在与横向交通存在碰撞危险的情况下确保避免碰撞，并且
-在识别出碰撞危险的情况下自动地最后可能地引入用于避免碰撞的制动干预，如果以此确保避免碰撞的话。
2.权利要求1所述的方法，所述方法还包括如下步骤：
-确定用以操纵加速踏板的速度和/或斜度，并且
-如果操纵加速踏板的速度或斜度超过预定的阈值，则与碰撞危险无关地阻止自动的制动干预。
3.按照上述权利要求之一所述的方法，所述方法还包括如下步骤：
-确定车辆速度，并且
-如果车辆速度超过预定的阈值，则与碰撞危险无关地阻止自动的制动干预。
4.用于使目前正在后退或前进行驶的机动车(100)与横向交通(102)避免碰撞的系统，所述系统包括：
-具有用于识别是否与横向交通(102)存在碰撞危险的功能模块；
-具有用于确定最后可能的制动干预的功能模块，所述制动干预用于在与横向交通存在碰撞危险的情况下确保避免碰撞，并且
-具有如下功能模块，所述功能模块用于在识别出碰撞危险的情况下自动地最后可能地引入用于避免碰撞的制动干预，如果以此确保避免碰撞的话。
5.按照上一个权利要求所述的系统，所述系统
-具有用于确定操纵加速踏板的速度和/或斜度的功能模块，并且
-具有如下功能模块，所述功能模块用于如果操纵加速踏板的速度或斜度超过预定的阈值则与碰撞危险无关地阻止自动的制动干预。
6.按照上述权利要求之一所述的系统，
-具有用于确定车辆速度的功能模块，并且
-具有如下功能模块，所述功能模块用于如果车辆速度超过预定的阈值则与碰撞危险无关地阻止自动的制动干预。
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