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CN113573965A - Method for determining the risk of accidents caused by moisture for a vehicle - Google Patents

Method for determining the risk of accidents caused by moisture for a vehicle Download PDF

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Publication number
CN113573965A
CN113573965A CN202080020826.8A CN202080020826A CN113573965A CN 113573965 A CN113573965 A CN 113573965A CN 202080020826 A CN202080020826 A CN 202080020826A CN 113573965 A CN113573965 A CN 113573965A
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CN
China
Prior art keywords
vehicle
risk
accident
ultrasonic sensor
information
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Pending
Application number
CN202080020826.8A
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Chinese (zh)
Inventor
T·柯尼希
S·魏森迈尔
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of CN113573965A publication Critical patent/CN113573965A/en
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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • 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
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Acoustics & Sound (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method and a device for determining the risk of accidents caused by moisture for a vehicle (80). The method comprises the following steps: -receiving a signal of said ultrasonic sensor (30) of the vehicle (80), which signal represents a noise level caused by wetness, -comparing the magnitude of the noise level with a first predefined threshold, -deriving information about the magnitude of the risk of accident for the vehicle (80) depending on the result of the comparison, and-using the information about the magnitude of the risk of accident in the vehicle (80).

Description

Method for determining the risk of accidents caused by moisture for a vehicle
Technical Field
The invention relates to a method and a device for determining the risk of accidents caused by moisture for a vehicle.
Background
The following vehicles are known from the prior art: the vehicle is provided with one or more ultrasonic sensors for environmental sensing of the vehicle. For this purpose, ultrasonic waves are first emitted by means of an ultrasonic sensor into a predefined environmental region of the vehicle to be sensed. Subsequently, the propagation time of the ultrasonic wave can be determined from the ultrasonic wave reflected or scattered by the environment to the ultrasonic sensor. Finally, the distance of the vehicle relative to the object in the environment of the vehicle can be determined within the corresponding sensing region of the ultrasonic sensor on the basis of the propagation time of the ultrasonic wave. In the prior art, the distance information determined in this way with respect to objects in the surroundings of the vehicle is received and used, for example, by a maneuvering assistance system of the vehicle (for example, in a parking assistance system).
Furthermore, controllers of vehicles are known from the prior art, which provide driver assistance functions and/or autonomous or partially autonomous vehicle control. For example, distance control controllers and emergency braking aids are known as such controllers, which in the prior art operate independently of the currently existing road conditions (wet, dry, etc.).
DE112014004258T5 describes an ultrasonic-based object sensing device for a vehicle. In the case of the object recognition carried out, it can be assumed that the noise based on road reflections and the noise signals generated by obstacles or objects have the same quality and differ significantly from other noise in the vehicle interior.
DE69016250T2 relates to an ultrasonic device on a vehicle for measuring the speed of the vehicle relative to a traffic lane. The measurement is made based on a doppler analysis evaluation.
DE102007061952a1 describes a method for locating pedestrians, in which primarily thermal signals and additionally also ultrasonic signals are evaluated in an additional analysis, and in which a comparison with a reference data set is carried out with regard to noise and other artifacts.
DE102005032460a1 describes a device for pedestrian impact detection for a vehicle, wherein an ultrasonic sensor device is used.
Disclosure of Invention
The invention proposes that the ultrasonic sensor based on the transport means explores the surface of the traffic lane respectively traveled by the transport means in the presence of moisture, so that the moisture information determined in this way can be advantageously used in the transport means, for example to avoid accidents.
According to a first aspect of the invention, a method for determining the risk of an accident caused by moisture for a vehicle is accordingly proposed. For example, the vehicle can be a road vehicle (e.g., a motorcycle, a passenger car, a transport vehicle, a truck) or a rail vehicle or an air/aircraft or water vehicle. In a first step of the method according to the invention, a signal of an ultrasonic sensor of the vehicle is received, which signal represents the noise level caused by moisture. In particular, this method step of the method according to the invention and the method steps described below can be carried out by means of the analytical evaluation unit according to the invention of the vehicle. The evaluation unit according to the invention can be part of a separate control unit or of an existing control unit of the vehicle. The ultrasonic sensor can preferably be an existing ultrasonic sensor of the vehicle, i.e. for example an ultrasonic sensor of a parking assistance system of the vehicle. Alternatively or additionally, the ultrasonic sensor used may also be an ultrasonic sensor which is used exclusively for the method according to the invention and which can be mounted on the vehicle in a suitable orientation at a position which is suitable for the method according to the invention. In principle, the method according to the invention allows the use of ultrasonic sensors with different sensing areas and/or sensitivities and/or arrangement positions on the transport means and/or orientations with respect to the transport means. For example, the ultrasonic sensor can be connected to the evaluation unit according to the invention in an information-related manner via the on-board power supply of the vehicle, either directly or indirectly (for example via a further control unit of the vehicle). In this way, the evaluation unit according to the invention can receive and subsequently process the signals generated by the ultrasonic sensor. Furthermore, following this reception, the evaluation unit can initially store the received ultrasonic sensor signals in an internal and/or external memory unit, which can be connected to the evaluation unit in terms of information technology.
In particular, the noise level caused by wetness represented by the signal of the ultrasonic sensor can be generated by a preceding vehicle in such a way that the wheels of the preceding vehicle generate a spray when driving over a wet road surface, which spray can cause a wet hissing sound (nasszechen) over a longer period of time, which can be sensed by the ultrasonic sensor of the vehicle. The more water is present on the surface of the roadway, the stronger the resulting noise level caused by moisture in the signal of the ultrasonic sensor. It should be noted that the noise level caused by moisture, which is generated by the ultrasonic sensor, may alternatively or additionally also be caused by the vehicle (i.e. the own vehicle) itself. It should likewise be noted that the method according to the invention can also be carried out on the basis of a plurality of ultrasonic sensors, which can be arranged in the same and/or different orientations at different locations of the transport means. The signals of the plurality of ultrasonic sensors can be received and processed by the evaluation unit via the onboard power supply system, as described above.
In a second step of the method according to the invention, the magnitude of the noise level caused by wetness is compared with a first predefined threshold. Preferably, the first predefined threshold value can be saved in a memory unit attached to the analytical evaluation unit and read therefrom by the analytical evaluation unit and subsequently used in the analytical evaluation unit. For example, the process of the comparison can be implemented on the basis of a computer program executed by an evaluation unit, which computer program is provided for implementing all method steps of the method according to the invention. For example, the results of this comparison may be saved again in a memory unit attached to the analytical evaluation unit for downstream processing.
In a third step of the method according to the invention, information about the size of the risk of accident is determined for the vehicle as a function of the result of the comparison. In the simplest case, a determination of a high or low risk of accident can be made by the evaluation unit on the basis of the ultrasound sensor noise level caused by moisture exceeding or falling below a first predefined threshold value. It is also conceivable to further differentiate the size of the risk of accident in the case of a noise level caused by moisture exceeding the predefined threshold. This can be achieved, for example, by: the more strongly the noise level caused by wetness exceeds the first predefined threshold, the higher the analysis and evaluation unit ranks the potential accident risk. For this purpose, for example, a plurality of first predefined thresholds may be stored in the memory unit, which first predefined thresholds represent different magnitudes of the noise level caused by moisture, respectively. By assigning the respective value to the respective risk of accident magnitude in the memory unit, the evaluation unit can accordingly determine the respective risk of accident magnitude on the basis of the different noise levels caused by moisture. Instead of only differentiating the accident risk size for noise levels caused by wetness above a first predefined threshold, the entire noise level range may also be evaluated in terms of the accident risk size.
In a fourth step of the method according to the invention, information about the size of the risk of accident is used in the vehicle. For example, the information can be used in a control unit of a distance control and/or of an emergency braking assistance device, which can each be connected to the evaluation unit according to the invention in terms of information technology via the on-board electrical system of the vehicle. In this way, the evaluation unit CAN transmit the ascertained information about the size of the risk of accident in the form of signals (for example CAN bus signals, Flexray signals, etc.) to the corresponding receiving controller in the vehicle.
The dependent claims show preferred embodiments of the invention.
In an advantageous embodiment of the invention, the ultrasonic sensor is oriented in the main travel direction of the vehicle or in a direction opposite to the main travel direction. This means that, in other words, the axis of the main radiation direction (or main reception direction) of the ultrasonic sensor can be oriented substantially horizontally in the travel direction of the vehicle or opposite to the travel direction thereof. This does not explicitly exclude: the ultrasonic sensor used in the method according to the invention may also be arranged at other locations of the vehicle (for example at the side of the vehicle). This likewise does not exclude: the ultrasonic sensor used may be tilted downwards or upwards with respect to the coordinate system of the vehicle. Alternatively or additionally, the ultrasonic sensor may also be tilted sideways. Furthermore, as already mentioned above, a plurality of ultrasonic sensors can be used, which can preferably be arranged not only in the main travel direction of the vehicle but also opposite to the main travel direction.
In a further advantageous embodiment of the invention, the ultrasonic sensor oriented in the main travel direction of the vehicle is preferably used to sense the wet hissing sound of a vehicle traveling ahead, while the ultrasonic sensor oriented opposite to the main travel direction of the vehicle is preferably used to sense the wet hissing sound of the vehicle itself. Furthermore, ultrasonic sensors oriented opposite to the direction of travel can also be used to sense the wet hissing of the following vehicle. In particular, it may be advantageous to use an ultrasonic sensor oriented in the main travel direction of the vehicle if the existing moisture on the roadway is sufficient to generate a noise level caused by moisture, which corresponds to the moisture hiss of one or more previously traveling vehicles, by means of the ultrasonic sensor. If the traffic lane has only a low moisture content which is not sufficient to generate a noise level caused by moisture in the ultrasonic sensor oriented in the main travel direction of the vehicle, an ultrasonic sensor oriented opposite to the main travel direction can advantageously be used for the method according to the invention, since it is able to generate a noise level caused by moisture even in the case of low existing moisture contents. In particular, the noise level may be caused by a wet hissing of the wheels of the vehicle itself. Furthermore, the ultrasonic sensor, which is oriented opposite to the main travel direction of the vehicle, can also sense the damp hissing sound of the following vehicle.
In the case of the use of a plurality of ultrasonic sensors for the method according to the invention, the noise level of an ultrasonic sensor oriented in the main travel direction of the vehicle can be compared, for example, with a first predefined threshold value, while the noise level of an ultrasonic sensor oriented opposite the main travel direction of the vehicle can be compared with a second predefined threshold value. Furthermore, depending on the number of ultrasonic sensors used, third, fourth and further predefined thresholds may also be used for the comparison of the corresponding noise level caused by wetness. In this way, the predefined threshold values assigned to the individual ultrasonic sensors can be optimally adapted to the respectively generated noise level caused by wetness. The corresponding result of the comparison of the moisture-induced noise levels of the individual ultrasonic sensors can alternatively or jointly be used in the vehicle. That is, the analysis evaluation unit can additionally evaluate, for example: which of these results or the corresponding noise level caused by moisture has sufficient reliability. From this evaluation, it can then be determined by the evaluation unit, in what form which results should be used in the transport means.
In a further advantageous embodiment of the invention, the first predefined threshold value and/or the second predefined threshold value is/are determined as a function of the speed of the vehicle. In other words, a plurality of first and second predefined thresholds may be saved in a storage unit attached to the analytical evaluation unit, which may be addressed and used by the analytical evaluation unit depending on the current speed of the vehicle. In this way, the evaluation unit can use a correspondingly smaller threshold value if the speed of the vehicle is low, and a correspondingly higher threshold value if the speed of the vehicle is high. In this way, pure velocity-dependent changes in the noise level caused by wetness can be compensated by the respectively adapted predefined threshold.
In a further advantageous embodiment of the invention, the information about the size of the risk of accident is used in a suitable control unit of the vehicle to adapt the speed of the vehicle and/or to adapt the distance to the preceding vehicle. Alternatively or additionally, information about the magnitude of the risk of accident is used to prepare the vehicle for the potential accident. This may result, for example, in the triggering of a so-called pre-crash function, which is used, in particular, for tightening a safety belt in a vehicle. Furthermore, alternatively or additionally, information about the size of the accident risk may be used to warn the driver of the vehicle. Such a warning can be, for example, an acoustic and/or optical and/or haptic warning message which informs the driver of: the risk of accidents increases. Furthermore, alternatively or additionally, the information about the size of the accident risk can be used for adapting the distance at which the emergency braking intervention is initiated and/or for adapting the brake pressure and/or for adapting the setting range of the distance control in the vehicle.
In a further advantageous embodiment of the invention, the tread depth and/or width of the tires of the vehicle and/or the speed of the vehicle and/or the current distance of the vehicle from a preceding vehicle and/or a following vehicle and/or the weight pressing on the rear axle of the vehicle are additionally taken into account when determining the information about the size of the accident risk. Thus, the actual size of the accident risk of the vehicle can be determined more accurately by taking into account the above-mentioned influencing factors. In the case of tires with a small tread depth and/or a large width, the risk of accidents is therefore correspondingly rated higher, since the braking distance of such a vehicle is correspondingly longer, in particular in connection with wet traffic lanes, compared to vehicles with tires with a large tread depth and a small width. The same applies to low-weight and/or high-speed vehicles with pressure on the rear axle, so that these influencing factors are likewise taken into account for the precise determination of the current accident risk by the evaluation unit. The corresponding values of the above-mentioned and/or further conceivable influencing factors for the current risk of accident can be automatically determined and/or predefined by means of user input. For example, the current speed of the vehicle may be determined on the basis of signals of one or more wheel speed sensors or on the basis of a (satellite-assisted) positioning system of the vehicle. For example, the current distance of the vehicle from a preceding and/or following vehicle can be determined by means of an additional sensor, for example a radar sensor or a lidar sensor. Furthermore, it is also conceivable to determine the distance to a further vehicle on the basis of the changing moisture-induced noise level of the ultrasonic sensor according to the method of the invention, in particular if other influencing factors for the noise level, such as changes in the speed of the vehicle and/or changes in the water quantity on the traffic lane, remain substantially unchanged at least for a predefined measuring period. Preferably, the analysis and evaluation unit is made aware of the tread depth and width of the tires of the vehicle by means of a user input in the vehicle. For example, the corresponding weight pressing on the rear axle of the vehicle may be automatically ascertained based on one or more height sensors of the vehicle.
In a further advantageous embodiment of the invention, the information about the size of the risk of accident that is ascertained for the vehicle is checked for plausibility on the basis of the environmental information of the further sensors of the vehicle. For this purpose, the spray generated by the further vehicle can additionally be sensed by a camera and/or a radar sensor and/or a lidar sensor of the vehicle. Based on a suitable algorithm, the output signals of the additional sensors can be used to determine a corresponding value for the existing moisture content on the roadway. The evaluation unit according to the invention can then compare the corresponding values with the values determined by the method according to the invention and thus carry out a plausibility check on the latter. In this way, the reliability of the method according to the invention can additionally be increased.
According to a second aspect of the invention, a device for determining the risk of accidents caused by moisture for a vehicle is proposed. The device comprises an evaluation unit with a data input and a data output, which can be a component of an existing control unit of the vehicle or a separate control unit. Furthermore, the evaluation unit can be configured, for example, as an ASIC, FPGA, processor, digital signal processor, microcontroller, etc., and can be attached to an internal and/or external memory unit in terms of information technology, in which data received and/or calculated by the evaluation unit for subsequent processing can be stored. The evaluation unit can also be designed to carry out the method steps described above on the basis of a computer program which implements the method steps. The evaluation unit is further provided, in association with the data input, for receiving, via the on-board electrical system of the vehicle, a signal of the ultrasonic sensor of the vehicle, which signal represents the noise level caused by moisture. For this purpose, the onboard power supply system may comprise, for example, a bus system (e.g., CAN, Flexray, MOST, etc.) which is provided for transmitting information between a plurality of controllers of the vehicle. The evaluation unit is also provided for comparing the magnitude of the noise level with a first predefined threshold value, which is preferably saved in a memory unit attached to the evaluation unit. Depending on the result of this comparison, the evaluation unit is additionally provided for ascertaining information about the size of the risk of accident for the vehicle. This information about the size of the risk of accident can be transmitted by the evaluation unit in association with the data output of the evaluation unit to a suitable receiving controller in the vehicle, which can use this information, in particular to increase the safety in the vehicle. For example, distance control and/or emergency brake assistance devices and the like are suitable as such receiver controllers.
Drawings
Hereinafter, embodiments of the present invention are described in detail with reference to the accompanying drawings. Shown here are:
FIG. 1: a flow chart illustrating the steps of one embodiment of a method according to the present invention; and
FIG. 2: schematic overview of the device according to the invention connected to a vehicle.
Detailed Description
Fig. 1 shows a flow chart illustrating the steps of an exemplary embodiment of a method according to the present invention for determining a risk of an accident caused by moisture for a vehicle. In step 100 of the method according to the invention, the evaluation unit according to the invention receives the signals of the ultrasonic sensors of the vehicle oriented in the main travel direction of the vehicle via the Flexray bus of the vehicle. This signal represents the noise level caused by wetness, which is produced by another vehicle travelling ahead when travelling through a wet traffic lane. In step 200, the evaluation unit (which is here a microcontroller) according to the invention compares the noise level of the ultrasonic sensor signal received via the Flexray bus with a first predefined threshold value, which is stored in a memory unit that is attached to the evaluation unit in terms of information technology. For this purpose, the evaluation unit first determines the current speed of the vehicle on the basis of the signals of the wheel speed sensors of the vehicle. In this case, a current velocity value of 70km/h is determined. Based on the speed value, the analysis evaluation unit selects a first predefined threshold from a plurality of first predefined thresholds that are predefined for the determined speed range, respectively. Here, a comparison of the magnitude of the noise level with a first predefined threshold value corresponding to a speed of 70km/h results, the noise level being currently above the first predefined threshold value. In step 300, on the basis of the result of this comparison, the analysis and evaluation unit finds information about the magnitude of the current accident risk for the vehicle. Here, additionally considered are: the current speed, information about the tread depth of the tires of the vehicle, information about the width of the tires, and information about the weight currently pressing on the rear axle of the vehicle and the distance of the vehicle relative to the previously running vehicle. In this embodiment, the distance to the preceding vehicle is determined based on the vehicle's distance radar system. The high noise level caused by moisture can lead to the conclusion that a relatively large amount of water is present in the traffic lane, and on the basis of the high noise level which is present here by way of example, on the basis of the small pattern depth of the tires of the vehicle and on the basis of the relatively small weight which is applied to the rear axle of the vehicle, the current very high risk of accident for this vehicle is determined by the evaluation unit. In step 400, information about the very high risk of accident is transmitted from the evaluation unit via the Flexray bus to a distance controller of the vehicle, which automatically reduces the speed of the vehicle on the basis of the very high risk of accident.
Fig. 2 shows a schematic view of the device according to the invention in combination with a vehicle 80. The device according to the invention comprises an evaluation unit 10, which is here a microcontroller. The evaluation unit 10 has a data input 12 and a data output 14, which are each connected to the onboard network of the vehicle 80 in terms of information technology. The analysis and evaluation unit 10 is able to carry out the above-described method steps according to the invention on the basis of a computer program implementing the method according to the invention. Furthermore, the evaluation unit 10 is connected to an external memory unit 20 in terms of information technology, in which data received and/or calculated by the evaluation unit 10 are stored. Via the data input 12, the evaluation unit 10 is connected to information technology to the ultrasonic sensor 30 oriented in the main travel direction of the vehicle 80 and to the ultrasonic sensor 35 oriented opposite to the main travel direction of the vehicle 80. The evaluation unit 10 receives signals from the two ultrasonic sensors 30, 35, respectively, which represent the noise level caused by moisture. Furthermore, the evaluation unit 10 is connected to the data input 12 by way of information technology to a camera 40 which is also oriented in the main travel direction of the vehicle 80. The evaluation unit 10 is provided in connection with the camera 40 for the purpose of checking the plausibility of the results of the above-described method according to the invention with respect to the magnitude of the current accident risk of the vehicle 80 by additionally evaluating the output signal of the camera 40. Via the data output 14, the evaluation unit 10 is connected to the distance controller 50 of the vehicle 80. The result of the method according to the invention, which is checked for plausibility by means of the output signals of the cameras 40, is supplied by the evaluation unit 10 to the distance control 50, which accordingly adapts the distance control of the vehicle 80.

Claims (10)

1. A method for determining a risk of an accident caused by moisture for a vehicle (80), the method comprising the steps of:
-receiving (100) a signal of an ultrasonic sensor (30) of the vehicle (80), the signal representing a noise level caused by moisture,
-comparing (200) the magnitude of the noise level with a first predefined threshold,
-determining (300) information about the size of the risk of accident for the vehicle (80) on the basis of the result of the comparison, and
-using (400) the information about the size of the accident risk in the vehicle (80).
2. The method according to claim 1, wherein the ultrasonic sensor (30) is oriented in or opposite to a main travel direction of the vehicle (80), or a plurality of ultrasonic sensors (30) is used which are oriented not only in but opposite to the main travel direction of the vehicle (80).
3. Method according to claim 2, wherein an ultrasonic sensor (30) oriented in the main travel direction of the vehicle is preferably used for sensing the wet hissing of a preceding vehicle, whereas an ultrasonic sensor (30) oriented opposite to the main travel direction of the vehicle (80) is preferably used for sensing the wet hissing of the vehicle (80) itself.
4. Method according to claim 2 or 3, wherein the noise level of an ultrasonic sensor (30) oriented in the main travel direction of the vehicle (80) is compared with the first predefined threshold value and the noise level of an ultrasonic sensor (30) oriented opposite to the main travel direction of the vehicle (80) is compared with a second predefined threshold value, wherein the respective results of the comparisons are used alternatively or jointly in the vehicle (80).
5. Method according to any of the preceding claims, wherein the first predefined threshold value and/or the second predefined threshold value is determined in dependence of a speed of the vehicle (80).
6. A method according to any of the preceding claims, wherein the information about the size of the risk of accident is used for:
-adapting the speed of the vehicle (80), and/or
-adapting the distance of the vehicle (80) relative to a preceding vehicle, and/or
-preparing the vehicle (80) for a potential accident, and/or
-issuing a warning to a driver of the vehicle (80), and/or
Adapting the distance at which emergency braking intervention is initiated, and/or
Adapting the brake pressure, and/or
-adapting an adjustment range of the distance adjustment controller (50).
7. The method according to any one of the preceding claims, wherein in the determination (300) of the information about the size of the risk of accident additionally:
-tread depth and/or width of the tyres of said vehicle (80), and/or
-the speed of the vehicle (80), and/or
-the current distance of the vehicle (80) relative to a preceding vehicle and/or a following vehicle, and/or
-a weight pressing on a rear axle of the vehicle (80).
8. Method according to claim 7, wherein the respective values of the tread depth and/or width of the tyres of the vehicle (80) and/or the weight pressing on the rear axle of the vehicle (80) are found automatically and/or by means of user input.
9. Method according to any of the preceding claims, wherein the information about the size of the risk of accident sought for the vehicle (80) is checked for plausibility on the basis of environmental information of further sensors (40) of the vehicle (80).
10. An arrangement for ascertaining a risk of an accident caused by moisture for a vehicle (80), the arrangement comprising:
an analytical evaluation unit (10),
-a data input (12), and
-a data output (14),
wherein the analysis and evaluation unit (10) is provided for,
-receiving, in association with the data input (12), a signal of an ultrasonic sensor (30) of the vehicle (80), the signal representing a noise level caused by moisture,
-comparing the magnitude of the noise level with a first predefined threshold,
-determining information about the size of the risk of accident for the vehicle (80) on the basis of the result of the comparison, and
-using the information on the size of the accident risk in the vehicle (80) in association with the data output (14).
CN202080020826.8A 2019-03-13 2020-03-10 Method for determining the risk of accidents caused by moisture for a vehicle Pending CN113573965A (en)

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