EP2193513B1 - Device and method for detecting vehicles and the approach angles thereof - Google Patents
Device and method for detecting vehicles and the approach angles thereof Download PDFInfo
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- EP2193513B1 EP2193513B1 EP08786242A EP08786242A EP2193513B1 EP 2193513 B1 EP2193513 B1 EP 2193513B1 EP 08786242 A EP08786242 A EP 08786242A EP 08786242 A EP08786242 A EP 08786242A EP 2193513 B1 EP2193513 B1 EP 2193513B1
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- 238000013459 approach Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 7
- 230000005855 radiation Effects 0.000 claims description 5
- 230000003213 activating effect Effects 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 230000004913 activation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
Definitions
- the invention relates to a device and a method for detecting vehicles and their approach angle by means provided on the vehicles passive or active transponders, which can be excited by a transmitting and receiving device for transmitting information stored in the transponders.
- the background of the present invention is that modern driver assistance systems are increasingly being used for accident prevention by detecting objects in the vehicle environment and predicting possible accident trajectories.
- these systems are very difficult to detect if the detected object is a vehicle or other obstacle.
- Even the type of vehicle truck, motorcycle, car, etc.
- very mature detection algorithms are necessary, which are based mainly on an image evaluation by means of video data.
- the DE 44 11 235 C2 describes an information system comprising a plurality of passive transponders, in each of which messages are stored, and at least one transceiver mounted in a vehicle for activating the transponders and for receiving the messages sent by an activated transponder.
- the transceiver transmits polarized radiant energy to the transponder, which then converts the resulting radiant energy to read data from the memory and create modulated and encoded messages and send back these messages in the form of horizontally or vertically polarized radio waves to the device for spurious radiation diffuse reflection on fences, bushes, buildings and the like, which are also received as (unpolarized) signals to be able to hide.
- a preferably club-shaped radiation field is generated by the transceiver.
- the object of the invention is therefore to provide an inexpensive and easy-to-implement system that allows the detection of vehicles and their approach angle, without having to install complex evaluation or detection systems in all vehicles.
- a device of the aforementioned type that at least two transponders with a limited emission angle range and different emission direction are arranged on a vehicle and that suitable information is stored in the transponders for identifying the vehicle.
- passive transponders such as RFID chips
- RFID chips are characterized by the fact that they do not require their own power supply. Rather, they are activated by a combined transmitting and receiving device that emits high-energy beams, such as radar beams. These rays are received and induced by the transponders sufficient energy to re-send information stored in the transponder.
- active transponders can also be used which, however, then require a dedicated power supply.
- a specific emission characteristic (emission angle range) can be specified.
- the arrangement of the transponder on the vehicle, the emission direction can be adjusted for example relative to a conventional direction of movement of the vehicle.
- information intended for transmission in relation to a radiation direction of the transponder relative to the direction of travel of the vehicle is also stored in the transponder.
- These include, in particular, a longitudinal and lateral emission direction with respect to the direction of travel of the vehicle which coincides with the longitudinal direction.
- This information may be provided as discrete data information (e.g. one bit) or given by different emission characteristics (different emission frequencies of the transponder) or other means of identification.
- At least two transponders with a different emission direction are arranged at a vehicle or body position in order to simultaneously detect the direction of the vehicle relative to the transmitting and receiving device upon detection of a transponder pair at a vehicle position.
- more than two transponders may be provided with only a limited radiation angle and different emission directions in order to further improve the angular resolution at the approach of the vehicle.
- more than two transponders may be arranged around the vehicle at different vehicle positions, preferably such that a vehicle equipped with the transponders can be recognized from all directions by means of transmitting devices.
- a preferred vehicle position for the arrangement of the transponder are the vehicle corners.
- transversely and laterally emitting transponders preferably adjoin one another in their emission areas at the edges. It can also be provided a certain overlap region of the beam angle, in which then the signals of both transponders are receivable. This also allows the angular resolution to be increased.
- individual transponders can be arranged laterally, for example, in the middle of the vehicle, which radiate only laterally and upon receipt of which it is clear that without an immediate risk of collision a vehicle drives next to your own vehicle. Such information may also be used, for example, in a direction indicated by a turn signal driving change to alert the driver to a driving next to the own vehicle vehicle in the blind spot.
- the transponders may also be arranged on or in the wheels of the vehicles, preferably in such a way that on each wheel a respective transponder in the running direction of the tire, i. longitudinal, and a transponder transverse to the running direction of the tire, i. radiates laterally.
- the transponders can be arranged on the axle, the rim or in the tire itself.
- the transponder can also be integrated directly at the corners in the bumpers of the vehicles. This is structurally simpler and more cost-effective, since care must be taken in a tire change that the possible information about their own positions on the vehicle transponder contained by exchange of tires are not reversed.
- the information stored for the vehicle information in the transponder and intended for transmission may include an identifier of the vehicle type, in particular weight, size, design and designation, a unique identifier of the vehicle for receiving a point-to-point communication and information about the vehicle position on which of the transponders is arranged.
- a vehicle equipped with a corresponding transmitting and receiving device can use the transponders provided in the vehicles in order to more accurately and better detect the surroundings of the own vehicle, without the need for expensive technical means.
- all vehicles regardless of whether they have a transmitting and receiving device, are equipped with the inexpensive to produce transponders, so that gradually over time all vehicles can retrofit the corresponding transmitting and receiving devices.
- transponders and transmitting and receiving devices are suitable which operate in the radar range, for example between 20 GHz and 80 GHz, for example at about 77 GHz or 24 GHz. On the latter frequencies work conventional radar systems, such as those used for example for distance detection.
- other frequencies can be used according to the invention, however, in order to avoid interference with the other radar-based assistance systems.
- the vehicle assistance system can be set up in particular to carry out the method described below.
- the vehicle assistance system preferably an arithmetic unit and suitable interfaces that can be connected or connected to sensors and / or actuators.
- the inventively proposed method for detecting vehicles and their approach angle to the own vehicle by means provided on the vehicles passive or active transponders provides that the transponder excited by a mounted on the own vehicle transmitting and receiving device for transmitting information stored in the transponders be and their information is then received by the transmitting and receiving device.
- the information transmitted by the transponders contains information about the type of vehicle and the direction of emission of the transponders relative to the direction of travel of the vehicle, so that by means of this information the direction of approach of the vehicle and the vehicle type of approaching vehicle can be determined.
- the propagation time of the signals from the transmission of the activation signal by the transmitting and receiving device to the reception of information transmitted by a transponder by the transmitting and receiving device can additionally be taken into account. This allows a conclusion about the distance of the approaching vehicle.
- the angle of approach may also be more accurately determined, as long as the transponder signals include information about the location at different vehicle locations.
- the transponders are arranged on a vehicle in such a way that their emission ranges overlap at a certain distance from the vehicle, so that a total of two transponder signals can be received from this distance upon activation.
- the ascertained information be used to support the prediction of an own trajectory and a possible collision trajectory, which were determined, for example, by a driver assistance system in one's own vehicle.
- the information obtained can be used to predict the severity of an accident and to identify suitable defenses in active and passive safety.
- information about the type of vehicle (design, weight and the like) is important, since different protective measures are initiated depending on the type of collision partner. If the information about the type of vehicle is known, measures can therefore be initiated by the driver assistance system as a function of this.
- the transponder can therefore contain a precisely specified indication of the vehicle type, for example cars, light trucks, heavy trucks, motorcycles, bicycles, agricultural machinery, powered wheelchairs and the like.
- the determined information may include and be used as a communication address for a point-to-point communication with an approaching vehicle. In order to contact this vehicle directly in the event of a detected hazard, to exchange further data and thus possibly to help avoid a collision in this way.
- the proposed invention By the proposed invention, different types of vehicles and their approach direction can be detected with a very small amount of hardware. All vehicles equipped with the corresponding transponders can be recognized when a vehicle is equipped with the associated transceiver. Of course, the transceiver is also capable of receiving similar transponders that are integrated into pedestrian's clothing, etc., as well as critical roadside objects, such as projecting house corners or the like. In comparison to the usual video recognition for the identification of vehicles and obstacles, the proposed method is much more accurate and cost-effective.
- the additional information also helps driver assistance systems better interpret the environment and the driving situation.
- FIG. 1 schematically shows a vehicle 1 in the plan.
- each passive or active transponder 2 are provided, which contain information about the vehicle type and possibly further information.
- These passive transponders can in particular be RFID chips which are activated by radar beams of an external transmitting and receiving device 3 and supplied with energy in order to transmit information stored in the transponders 2.
- the information about the vehicle type can include parameters such as the weight of the vehicle, the size of the vehicle, the type of vehicle (truck, car, motorcycle), year of construction, crash beam height to estimate the crash compatibility with the own vehicle, execution of the underrun protection and the like as well as the manufacturer identifier included. Furthermore, a unique identifier may be provided for the reception of a point-to-point communication similar to a telephone number, for example by GSM, DSRC or the like. With this information, driver assistance systems that classify the surrounding objects on the basis of environmental sensors can be clearly improved and interventions in the vehicle safety systems based on them can be carried out reliably.
- this information allows statements about the imminent course of the accident and thus enables targeted measures in active and passive (reversible) safety initiate. It can also be used to estimate which interventions best reduce the risk involved: steering, braking, both, control time and intensity of the restraint devices, warning displays, signals to the collision partner via car-2-car communication or via light and / or acoustic signals ,
- the transponders 2 provided on the vehicle 1 each have a limited emission angle range 4. Since additional information about its position and orientation of the emission angle range are transmitted relative to the direction of travel by the transponder 2, it is possible, based on this information and the position of the transmitting and receiving device 3, the approach angle of the vehicle 1 to a separate vehicle in which the Transmitting and receiving device 3 is to determine. This will be explained below with reference to Fig. 1 explained in more detail.
- the transmitting and receiving device 3 receives a signal of the transponder 2 pointing in the direction of travel at the point A, the risk of a collision is great.
- a reception by a transmitting and receiving device 3 arranged at the position B it is clear that the vehicle 1 is not on an immediate collision course with the transmitting and receiving device 3 or its own vehicle, provided that the own trajectory is not oblique to the Trajectory of the other vehicle is running.
- the trajectory of the transmitting and receiving devices 3 is represented by at this attacking strokes.
- position C the information of a transponder 2 is received, which is arranged laterally on the vehicle, so that there is no great danger of a collision in the indicated trajectory.
- the identified vehicle 1 approaches its own vehicle.
- This direction is used to support the prediction of the self-trajectory and the prediction of a possible collision trajectory between the own vehicle and the vehicle 1 detected in the surroundings of the own vehicle via an environment sensor system and tracked in its trajectory.
- an environment sensor system and tracked in its trajectory.
- the present invention thus describes a cost-effective and very effective system for detecting vehicles and their approach angle to a separate vehicle.
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Abstract
Description
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur Erkennung von Fahrzeugen und deren Annäherungswinkel mittels an den Fahrzeugen vorgesehenen passiven oder aktiven Transpondern, die durch eine Sende- und Empfangseinrichtung zur Übertragung von in den Transpondern gespeicherten Informationen anregbar sind.The invention relates to a device and a method for detecting vehicles and their approach angle by means provided on the vehicles passive or active transponders, which can be excited by a transmitting and receiving device for transmitting information stored in the transponders.
Der Hintergrund der vorliegenden Erfindung liegt darin, dass moderne Fahrerassistenzsysteme zunehmend auch zur Unfallprävention eingesetzt werden, indem sie Objekte im Fahrzeugumfeld erkennen und mögliche Unfalltrajektorien vorhersagen. Diese Systeme können jedoch nur sehr schwer erkennen, ob es sich bei dem erkannten Objekt um ein Fahrzeug oder ein anderes Hindernis handelt. Auch der Fahrzeugtyp (Lkw, Motorrad, Pkw usw.) ist nur mit sehr großem sensorischen Aufwand zu ermitteln. Zur Erkennung sind nämlich sehr ausgereifte Erkennungsalgorithmen notwendig, die hauptsächlich auf einer Bildauswertung mittels Videodaten beruhen.The background of the present invention is that modern driver assistance systems are increasingly being used for accident prevention by detecting objects in the vehicle environment and predicting possible accident trajectories. However, these systems are very difficult to detect if the detected object is a vehicle or other obstacle. Even the type of vehicle (truck, motorcycle, car, etc.) can only be determined with great sensory effort. For detection, very mature detection algorithms are necessary, which are based mainly on an image evaluation by means of video data.
Eine Vorrichtung zur Erkennung von Objekten mittels an den Objekten vorgesehenen Transpondern ist aus der
In der
Die
Aufgabe der Erfindung ist es daher, ein kostengünstig und einfach zu realisierendes System zu schaffen, das die Erkennung von Fahrzeugen und deren Annäherungswinkel ermöglicht, ohne aufwendige Auswerte- oder Detektionssysteme in allen Fahrzeugen installieren zu müssen.The object of the invention is therefore to provide an inexpensive and easy-to-implement system that allows the detection of vehicles and their approach angle, without having to install complex evaluation or detection systems in all vehicles.
Diese Aufgabe wird erfindungsgemäß mit den Merkmalen der Ansprüche 1 und 8 gelöst.This object is achieved with the features of
Dazu ist bei einer Vorrichtung der eingangs genannten Art erfindungsgemäß vorgesehen, dass an einem Fahrzeug mindestens zwei Transponder mit einem begrenzten Abstrahlwinkelbereich und unterschiedlicher Abstrahlrichtung angeordnet sind und dass in den Transpondern zur Identifikation des Fahrzeugs geeignete Informationen gespeichert sind. Derartige passive Transponder, beispielsweise RFID-Chips, zeichnen sich dadurch aus, dass sie keine eigene Stromversorgung benötigen. Sie werden vielmehr durch eine kombinierte Sende- und Empfangseinrichtung aktiviert, die energiereiche Strahlen, beispielsweise Radarstrahlen, aussendet. Diese Strahlen werden von den Transpondern empfangen und induzieren eine ausreichende Energie, um in dem Transponder gespeicherte Informationen wieder auszusenden. Es sind erfindungsgemäß jedoch auch aktive Transponder einsetzbar, die dann jedoch eine dedizierte Stromversorgung benötigen. Dabei kann durch den Aufbau der passiven oder aktiven Transponder und insbesondere die in den Transpondern vorgesehene Antennenvorrichtung eine bestimmte Abstrahlcharakteristik (Abstrahlwinkelbereich) vorgegeben werden. Durch die Anordnung der Transponder an dem Fahrzeug lässt sich auch die Abstrahlrichtung beispielsweise relativ zu einer üblichen Bewegungsrichtung des Fahrzeugs einstellen. Durch diese mindestens zwei Transponder mit jeweils einem begrenzten Abstrahlwinkel und einem longitudinalen in Fahrtrichtung und lateralen seitlichen Abstrahlen ist es möglich, den Winkel zwischen einem eigenen Fahrzeug und einem durch den Transponder erkannten Fahrzeug zu ermitteln, wobei in den Transponderdaten gleichzeitig Informationen zur Identifizierung des Fahrzeugs gespeichert sein können. Somit werden das Erkennen und Identifizieren von Fahrzeugen im Umgebungsbereich zu dem eigenen Fahrzeug extrem erleichtert und deren Annäherungsrichtung mit geringem Hardwareaufwand bestimmt.For this purpose, it is provided according to the invention in a device of the aforementioned type that at least two transponders with a limited emission angle range and different emission direction are arranged on a vehicle and that suitable information is stored in the transponders for identifying the vehicle. Such passive transponders, such as RFID chips, are characterized by the fact that they do not require their own power supply. Rather, they are activated by a combined transmitting and receiving device that emits high-energy beams, such as radar beams. These rays are received and induced by the transponders sufficient energy to re-send information stored in the transponder. However, according to the invention, active transponders can also be used which, however, then require a dedicated power supply. In this case, by the structure of the passive or active transponder and in particular the antenna device provided in the transponders, a specific emission characteristic (emission angle range) can be specified. The arrangement of the transponder on the vehicle, the emission direction can be adjusted for example relative to a conventional direction of movement of the vehicle. By means of these at least two transponders each having a limited emission angle and a longitudinal in the direction of travel and lateral lateral emission, it is possible to determine the angle between a separate vehicle and a vehicle recognized by the transponder, wherein information for identifying the vehicle is simultaneously stored in the transponder data could be. Thus, the detection and identification of vehicles in the surrounding area to the own vehicle are extremely facilitated and their approach direction determined with little hardware effort.
Gemäß einer bevorzugten Ausführungsform der Erfindung sind in dem Transponder auch zur Übertragung vorgesehene Informationen zu einer Abstrahlrichtung des Transponders relativ zur Fahrtrichtung des Fahrzeugs gespeichert. Diese beinhalten insbesondere eine longitudinale und laterale Abstrahlrichtung in Bezug auf die mit der longitudinalen Richtung übereinstimmende Fahrtrichtung des Fahrzeuges. Diese Informationen können als diskrete Dateninformationen (beispielsweise ein Bit) gespeichert oder durch unterschiedliche Abstrahlcharakteristiken (verschiedene Abstrahlfrequenzen der Transponder) oder sonstige Identifikationsmittel gegeben werden.According to a preferred embodiment of the invention, information intended for transmission in relation to a radiation direction of the transponder relative to the direction of travel of the vehicle is also stored in the transponder. These include, in particular, a longitudinal and lateral emission direction with respect to the direction of travel of the vehicle which coincides with the longitudinal direction. This information may be provided as discrete data information (e.g. one bit) or given by different emission characteristics (different emission frequencies of the transponder) or other means of identification.
Vorteilhaft ist es, wenn an einer Fahrzeug- bzw. Karosserieposition jeweils mindestens zwei Transponder mit einer unterschiedlichen Abstrahlrichtung angeordnet sind, um bei Detektion eines Transponderpaares an einer Fahrzeugposition gleichzeitig auch die Richtung des Fahrzeugs relativ zu der Sende- und Empfangseinrichtung ermitteln zu können. Gegebenenfalls können an einer Fahrzeug- bzw. Karosserieposition auch mehr als zwei Transponder mit einem nur begrenzten Abstrahlwinkel und jeweils verschiedenen Abstrahlrichtungen vorgesehen sein, um die Winkelauflösung bei der Annäherung des Fahrzeugs weiter zu verbessern. Ferner können um das Fahrzeug herum an verschiedenen Fahrzeugpositionen jeweils mehr als zwei Transponder angeordnet sein, vorzugsweise derart, dass ein mit den Transpondern ausgestattetes Fahrzeug aus allen Richtungen mittels Sendeeinrichtungen erkennbar ist. Eine bevorzugte Fahrzeugposition zur Anordnung der Transponder sind die Fahrzeugecken. Die lateral und longitudinal abstrahlenden Transponder grenzen in ihren Abstrahlbereichen an den Rändern vorzugsweise aneinander an. Es kann auch ein bestimmter Überlappungsbereich der Abstrahlwinkel vorgesehen sein, in dem dann die Signale beider Transponder empfangbar sind. Auch hierdurch kann die Winkelauflösung erhöht werden. Zusätzlich können seitlich beispielsweise in der Mitte des Fahrzeugs einzelne Transponder angeordnet sein, die nur seitlich abstrahlen und bei deren Empfang klar ist, dass ohne unmittelbare Kollisionsgefahr ein Fahrzeug neben dem eigenen Fahrzeug herfährt. Derartige Informationen können beispielsweise bei einem durch ein Blinkersignal angedeuteten Fahrtwechsel auch verwendet werden, um den Fahrer auf ein neben dem eigenen Fahrzeug fahrendes Fahrzeug im toten Winkel hinzuweisen.It is advantageous if in each case at least two transponders with a different emission direction are arranged at a vehicle or body position in order to simultaneously detect the direction of the vehicle relative to the transmitting and receiving device upon detection of a transponder pair at a vehicle position. Optionally, at a vehicle or body position more than two transponders may be provided with only a limited radiation angle and different emission directions in order to further improve the angular resolution at the approach of the vehicle. Furthermore, more than two transponders may be arranged around the vehicle at different vehicle positions, preferably such that a vehicle equipped with the transponders can be recognized from all directions by means of transmitting devices. A preferred vehicle position for the arrangement of the transponder are the vehicle corners. The transversely and laterally emitting transponders preferably adjoin one another in their emission areas at the edges. It can also be provided a certain overlap region of the beam angle, in which then the signals of both transponders are receivable. This also allows the angular resolution to be increased. In addition, individual transponders can be arranged laterally, for example, in the middle of the vehicle, which radiate only laterally and upon receipt of which it is clear that without an immediate risk of collision a vehicle drives next to your own vehicle. Such information may also be used, for example, in a direction indicated by a turn signal driving change to alert the driver to a driving next to the own vehicle vehicle in the blind spot.
In einer speziellen Ausführungsform der Erfindung können die Transponder auch an oder in den Rädern der Fahrzeuge angeordnet sein, vorzugsweise derart, das an jedem Rad je ein Transponder in Laufrichtung des Reifens, d.h. longitudinal, und ein Transponder quer zur Laufrichtung des Reifens, d.h. lateral abstrahlt. Natürlich sind auch hier feinere Einstellungen möglich. Die Transponder können an der Achse, der Felge oder im Reifen selbst angeordnet werden. Gemäß einer weiteren, vorteilhaften Ausführungsform können die Transponder auch unmittelbar an den Ecken in den Stoßfängern der Fahrzeuge integriert sein. Dies ist konstruktiv einfacher und kostengünstiger, da bei einem Reifenwechsel nicht darauf geachtet werden muss, dass die möglicherweise Informationen über ihre eigenen Positionen an dem Fahrzeug enthaltenen Transponder durch Austausch der Reifen nicht vertauscht werden.In a specific embodiment of the invention, the transponders may also be arranged on or in the wheels of the vehicles, preferably in such a way that on each wheel a respective transponder in the running direction of the tire, i. longitudinal, and a transponder transverse to the running direction of the tire, i. radiates laterally. Of course, even finer settings are possible here. The transponders can be arranged on the axle, the rim or in the tire itself. According to a further advantageous embodiment, the transponder can also be integrated directly at the corners in the bumpers of the vehicles. This is structurally simpler and more cost-effective, since care must be taken in a tire change that the possible information about their own positions on the vehicle transponder contained by exchange of tires are not reversed.
Die zur Fahrzeuginformation in dem Transponder gespeicherten und zur Übertragung vorgesehenen Informationen können eine Kennung des Fahrzeugtyps, insbesondere Gewicht, Größe, Bauart und Bezeichnung, eine eindeutige Kennung des Fahrzeugs zur Aufnahme einer Punkt-zu-Punkt-Kommunikation sowie Informationen zu der Fahrzeugposition enthalten, an welcher der Transponder angeordnet ist.The information stored for the vehicle information in the transponder and intended for transmission may include an identifier of the vehicle type, in particular weight, size, design and designation, a unique identifier of the vehicle for receiving a point-to-point communication and information about the vehicle position on which of the transponders is arranged.
Mit diesen Informationen kann ein Fahrzeug, das mit einer entsprechenden Sende- und Empfangseinrichtung ausgestattet ist, die in den Fahrzeugen vorgesehenen Transponder nutzen, um das Umfeld des eigenen Fahrzeugs genauer und besser zu detektieren, ohne dass aufwendige technische Mittel hierfür vorgesehen sein müssen. Vorzugsweise können alle Fahrzeuge, unabhängig davon, ob sie eine Sende- und Empfangseinrichtung aufweisen, mit den kostengünstig herstellbaren Transpondern ausgestattet werden, so dass im Laufe der Zeit nach und nach alle Fahrzeuge die entsprechenden Sende- und Empfangseinrichtungen nachrüsten können. Es sind insbesondere Transponder und Sende- und Empfangseinrichtungen geeignet, die im Radarbereich arbeiten, etwa zwischen 20 GHz und 80 GHz, beispielsweise bei etwa 77 GHz oder 24 GHz. Auf den letztgenannten Frequenzen arbeiten übliche Radarsysteme, wie sie beispielsweise zur Abstandserkennung eingesetzt werden. Gegebenenfalls können erfindungsgemäß aber auch andere Frequenzen verwendet werden, um Interferenzen mit den anderen radarbasierten Assistenzsystemen zu vermeiden.With this information, a vehicle equipped with a corresponding transmitting and receiving device can use the transponders provided in the vehicles in order to more accurately and better detect the surroundings of the own vehicle, without the need for expensive technical means. Preferably, all vehicles, regardless of whether they have a transmitting and receiving device, are equipped with the inexpensive to produce transponders, so that gradually over time all vehicles can retrofit the corresponding transmitting and receiving devices. In particular, transponders and transmitting and receiving devices are suitable which operate in the radar range, for example between 20 GHz and 80 GHz, for example at about 77 GHz or 24 GHz. On the latter frequencies work conventional radar systems, such as those used for example for distance detection. Optionally, other frequencies can be used according to the invention, however, in order to avoid interference with the other radar-based assistance systems.
Um die gesammelten Informationen optimal auszunutzen, wird erfindungsgemäß vorgeschlagen, die Sende- und Empfangseinrichtung mit einem Fahrzeugassistenzsystem zu verbinden, welches dann auf die gewonnenen Informationen für die verschiedensten Anwendungen zugreifen kann.In order to make optimal use of the collected information, it is proposed according to the invention to connect the transmitting and receiving device to a vehicle assistance system, which can then access the information obtained for a wide variety of applications.
Neben weiteren, hier nicht näher beschriebenen Funktionen kann das Fahrzeugassistenzsystem insbesondere dazu eingerichtet sein, das nachfolgend beschriebene Verfahren durchzuführen. Dazu weist das Fahrzeugassistenzsystem vorzugsweise eine Recheneinheit und geeignete, mit Sensoren und/oder Aktoren verbindbare beziehungsweise verbundene Schnittstellen auf.In addition to further functions not described in more detail here, the vehicle assistance system can be set up in particular to carry out the method described below. For this purpose, the vehicle assistance system preferably an arithmetic unit and suitable interfaces that can be connected or connected to sensors and / or actuators.
Das erfindungsgemäß vorgeschlagene Verfahren zur Erkennung von Fahrzeugen und deren Annäherungswinkel an das eigene Fahrzeug mittels an den Fahrzeugen vorgesehenen passiven oder aktiven Transpondern sieht vor, dass die Transponder durch eine an dem eigenen Fahrzeug angebrachte Sende- und Empfangseinrichtung zur Übertragung von in den Transpondern gespeicherten Informationen angeregt werden und deren Informationen dann durch die Sende- und Empfangseinrichtung empfangen werden. Die von den Transpondern übertragenen Informationen enthalten erfindungsgemäß Angaben über den Fahrzeugtyp und die Richtung der Abstrahlung der Transponder relativ zur Fahrtrichtung des Fahrzeugs, so dass mittels dieser Informationen die Richtung der Annäherung des Fahrzeugs und der Fahrzeugtyp des sich annähernden Fahrzeugs ermittelt werden können.The inventively proposed method for detecting vehicles and their approach angle to the own vehicle by means provided on the vehicles passive or active transponders provides that the transponder excited by a mounted on the own vehicle transmitting and receiving device for transmitting information stored in the transponders be and their information is then received by the transmitting and receiving device. According to the invention, the information transmitted by the transponders contains information about the type of vehicle and the direction of emission of the transponders relative to the direction of travel of the vehicle, so that by means of this information the direction of approach of the vehicle and the vehicle type of approaching vehicle can be determined.
Zur verbesserten Genauigkeit kann erfindungsgemäß zusätzlich die Laufzeit der Signale von der Aussendung des Aktivierungssignals durch die Sende- und Empfangseinrichtung bis zum Empfang einer durch einen Transponder ausgesendeten Information durch die Sende- und Empfangseinrichtung berücksichtigt werden. Dies erlaubt einen Rückschluss über die Entfernung des sich annähernden Fahrzeugs. Bei Empfang von Transpondersignalen von verschiedenen Fahrzeugpositionen kann auch der Winkel der Annäherung genauer bestimmt werden, sofern die Transpondersignale Informationen über die Anordnung an verschiedenen Fahrzeugpositionen beinhalten. Dazu ist es vorteilhaft, wenn die Transponder an einem Fahrzeug derart angeordnet sind, dass sich ihre Abstrahlbereiche in einer gewissen Entfernung von dem Fahrzeug überschneiden, so dass ab diesem Abstand bei Aktivierung insgesamt zwei Transpondersignale empfangbar sind.For improved accuracy, according to the invention, the propagation time of the signals from the transmission of the activation signal by the transmitting and receiving device to the reception of information transmitted by a transponder by the transmitting and receiving device can additionally be taken into account. This allows a conclusion about the distance of the approaching vehicle. Upon receipt of transponder signals from different vehicle positions, the angle of approach may also be more accurately determined, as long as the transponder signals include information about the location at different vehicle locations. For this purpose, it is advantageous if the transponders are arranged on a vehicle in such a way that their emission ranges overlap at a certain distance from the vehicle, so that a total of two transponder signals can be received from this distance upon activation.
Gemäß einer bevorzugten Verwendung wird vorgeschlagen, dass die ermittelten Informationen zur Stützung der Prädiktion einer Eigentrajektorie und einer möglichen Kollisionstrajektorie herangezogen werden, welche beispielsweise durch ein Fahrerassistenzsystem im eigenen Fahrzeug ermittelt wurden.According to a preferred use, it is proposed that the ascertained information be used to support the prediction of an own trajectory and a possible collision trajectory, which were determined, for example, by a driver assistance system in one's own vehicle.
Ferner können die ermittelten Informationen zur Vorhersage einer Unfallschwere und zur Ermittlung geeigneter Abwehrmaßnahmen in der aktiven und passiven Sicherheit verwendet werden. Wichtig sind in diesem Zusammenhang insbesondere Angaben über den Fahrzeugtyp (Bauart, Gewicht und dergleichen), da je nach Art der Kollisionspartner unterschiedliche Schutzmaßnahmen eingeleitet werden. Sofern die Informationen über den Fahrzeugtyp bekannt sind, können daher in Abhängigkeit davon Maßnahmen durch das Fahrerassistenzsystem eingeleitet werden. Zur Unterscheidung des Fahrzeugtyps kann der Transponder daher eine genau spezifizierte Angabe des Fahrzeugtyps enthalten, beispielsweise Pkw, leichte Lkw, schwere Lkw, Motorrad, Fahrrad, Landmaschinen, angetriebene Rollstühle und dergleichen.Furthermore, the information obtained can be used to predict the severity of an accident and to identify suitable defenses in active and passive safety. In this context, information about the type of vehicle (design, weight and the like) is important, since different protective measures are initiated depending on the type of collision partner. If the information about the type of vehicle is known, measures can therefore be initiated by the driver assistance system as a function of this. To distinguish the vehicle type, the transponder can therefore contain a precisely specified indication of the vehicle type, for example cars, light trucks, heavy trucks, motorcycles, bicycles, agricultural machinery, powered wheelchairs and the like.
Ferner können die ermittelten Informationen eine Kommunikationsadresse für eine Punkt-zu-Punkt-Kommunikation mit einem sich annähernden Fahrzeug aufweisen und verwendet werden, um mit diesem Fahrzeug im Falle einer erkannten Gefährdung direkt Kontakt aufzunehmen, weitere Daten auszutauschen und so eventuell dazu beizutragen, eine Kollision auf diese Weise zu vermeiden.Further, the determined information may include and be used as a communication address for a point-to-point communication with an approaching vehicle. In order to contact this vehicle directly in the event of a detected hazard, to exchange further data and thus possibly to help avoid a collision in this way.
Durch die vorgeschlagene Erfindung können verschiedene Typen von Fahrzeugen und deren Annäherungsrichtung mit einem sehr geringen Hardwareaufwand erkannt werden. Sämtliche Fahrzeuge, die mit den entsprechenden Transpondern ausgestattet sind, können dann erkannt werden, wenn ein Fahrzeug mit der zugehörigen Sende- und Empfangseinrichtung ausgestattet ist. Natürlich ist die Sende- und Empfangseinrichtung auch geeignet, ähnliche Transponder zu empfangen, die in Kleidung von Fußgängern usw. sowie in kritischen Objekten am Straßenrand, beispielsweise vorragenden Häuserecken oder dergleichen, integriert sind. Im Vergleich zu der bisher üblichen Videoerkennung zur Identifikation von Fahrzeugen und Hindernissen ist das vorgeschlagene Verfahren wesentlich genauer und kostengünstiger.By the proposed invention, different types of vehicles and their approach direction can be detected with a very small amount of hardware. All vehicles equipped with the corresponding transponders can be recognized when a vehicle is equipped with the associated transceiver. Of course, the transceiver is also capable of receiving similar transponders that are integrated into pedestrian's clothing, etc., as well as critical roadside objects, such as projecting house corners or the like. In comparison to the usual video recognition for the identification of vehicles and obstacles, the proposed method is much more accurate and cost-effective.
Die zusätzlichen Informationen helfen Fahrerassistenzsystemen zudem, das Umfeld und die Fahrsituation insgesamt besser zu interpretieren.The additional information also helps driver assistance systems better interpret the environment and the driving situation.
Weitere Vorteile, Merkmale und Anwendungsmöglichkeiten der Erfindung ergeben sich auch aus der nachfolgenden Beschreibung eines Ausführungsbeispiels und der Zeichnung. Dabei bilden alle beschriebenen und/oder bildlich dargestellten Merkmale für sich oder in beliebiger Kombination den Gegenstand der vorliegenden Erfindung, auch unabhängig von ihrer Zusammenfassung in den Ansprüchen oder deren Rückbezügen.Further advantages, features and applications of the invention will become apparent from the following description of an embodiment and the drawing. All described and / or illustrated features alone or in any combination form the subject matter of the present invention, also independent of their summary in the claims or their remittances.
Die einzige
Die Informationen zu dem Fahrzeugtyp können unter anderem Parameter wie das Gewicht des Fahrzeugs, die Größe des Fahrzeugs, die Bauart des Fahrzeugs (Lkw, Pkw, Motorrad), Baujahr, Crash-Beam Höhe zur Abschätzung der Crashkompatibilität mit dem eigenen Fahrzeug, Ausführung des Unterfahrschutzes und dergleichen sowie der Herstellerkennung enthalten. Ferner kann eine eindeutige Kennung für die Aufnahme einer Punkt-zu-Punkt-Kommunikation ähnlich einer Telefonnummer beispielsweise durch GSM, DSRC oder dergleichen mitgegeben werden. Durch diese Informationen lassen sich Fahrerassistenzsysteme, die auf Basis der Umfeldsensorik die umgebenen Objekte klassifizieren, eindeutig verbessern und darauf basierende Eingriffe in die Fahrzeugsicherheitssysteme zuverlässig durchführen.The information about the vehicle type can include parameters such as the weight of the vehicle, the size of the vehicle, the type of vehicle (truck, car, motorcycle), year of construction, crash beam height to estimate the crash compatibility with the own vehicle, execution of the underrun protection and the like as well as the manufacturer identifier included. Furthermore, a unique identifier may be provided for the reception of a point-to-point communication similar to a telephone number, for example by GSM, DSRC or the like. With this information, driver assistance systems that classify the surrounding objects on the basis of environmental sensors can be clearly improved and interventions in the vehicle safety systems based on them can be carried out reliably.
Insbesondere lassen diese Informationen Aussagen über den drohenden Unfallverlauf zu und ermöglichen so, gezielt Maßnahmen in der aktiven und passiven (reversiblen) Sicherheit einzuleiten. Damit lässt sich auch abschätzen, welche Eingriffe das drohende Risiko am besten reduzieren: Lenken, Bremsen, beides, Ansteuerungszeitpunkt und Intensität der Rückhaltemittel, Warnanzeigen, Signale an den Kollisionspartner über eine Car-2-Car-Kommunikation oder über Licht- und/oder Akustiksignale.In particular, this information allows statements about the imminent course of the accident and thus enables targeted measures in active and passive (reversible) safety initiate. It can also be used to estimate which interventions best reduce the risk involved: steering, braking, both, control time and intensity of the restraint devices, warning displays, signals to the collision partner via car-2-car communication or via light and / or acoustic signals ,
Um zu erkennen, aus welcher Richtung sich das Fahrzeug 1 einer Sende- und Empfangseinrichtung 3 nähert, weisen die an dem Fahrzeug 1 vorgesehenen Transponder 2 jeweils einen begrenzten Abstrahlwinkelbereich 4 auf. Da durch den Transponder 2 zusätzlich Informationen über seine Position und Ausrichtung des Abstrahlwinkelbereichs relativ zur Fahrtrichtung ausgesendet werden, ist es möglich, aufgrund dieser Informationen und der Position der Sende- und Empfangseinrichtung 3 den Annäherungswinkel des Fahrzeugs 1 zu einem eigenen Fahrzeug, in welchem sich die Sende- und Empfangseinrichtung 3 befindet, zu ermitteln. Dies wird nachfolgend anhand der
Sofern die Sende- und Empfangseinrichtung 3 an der Stelle A ein Signal des in Fahrtrichtung zeigenden Transponders 2 empfängt, ist die Gefahr einer Kollision groß. Im Falle eines Empfangs durch eine an der Position B angeordneten Sende- und Empfangseinrichtung 3 ist klar, dass sich das Fahrzeug 1 nicht auf einem unmittelbaren Kollisionskurs mit der Sende- und Empfangseinrichtung 3 bzw. dem eigenen Fahrzeug befindet, sofern die Eigentrajektorie nicht schräg zu der Trajektorie des anderen Fahrzeugs verläuft. Die Trajektorie der Sende- und Empfangseinrichtungen 3 ist durch an dieser angreifende Striche dargestellt. Im Falle der Position C werden die Informationen eines Transponders 2 empfangen, der seitlich an dem Fahrzeug angeordnet ist, so dass bei der angedeuteten Trajektorie keine große Gefahr für eine Kollision besteht. Durch die Anordnung von Transpondern 2 jeweils in der Mitte der verschiedenen Seiten des Fahrzeugs 1 kann die Winkelauflösung somit deutlich verbessert werden, zumal Überschneidungen im Empfangsbereich auftreten können, die eine genauere Einschätzung des Winkels ermöglichen.If the transmitting and receiving
Somit ist erkennbar, aus welcher Richtung sich das identifizierte Fahrzeug 1 dem eigenen Fahrzeug nähert. Diese Richtung wird zur Stützung der Prädiktion der Eigentrajektorie und der Prädiktion einer möglichen Kollisionstrajektorie zwischen dem Eigenfahrzeug und der über eine Umfeldsensorik detektierten und in ihrer Trajektorie verfolgten Fahrzeuge 1 im Umfeld des Eigenfahrzeugs benutzt. Damit ist eine höhere Robustheit der Kollisionsvorhersage von Fahrerassistenzsystemen erreichbar als sie durch eine reine Umfeldsensorik basierte Prädiktion der Trajektorien möglich wäre.Thus it can be seen from which direction the identified
Durch die vorliegende Erfindung wird also ein kostengünstiges und sehr effektives System zur Erkennung von Fahrzeugen und deren Annäherungswinkel zu einem eigenen Fahrzeug beschrieben.The present invention thus describes a cost-effective and very effective system for detecting vehicles and their approach angle to a separate vehicle.
- 11
- Fahrzeugvehicle
- 22
- passiver Transponderpassive transponder
- 33
- Sende- und EmpfangseinrichtungTransmitting and receiving device
- 44
- Abstrahlwinkelbereichbeam angle
Claims (12)
- Device for detecting vehicles (1) and the approach angles thereof by means of passive or active transponders (2) that are provided on the vehicles and can be excited by a transmitting and receiving device (3) to transmit information stored in the transponders (2), wherein at least two transponders (2) having limited radiation angle ranges (4) and different beam directions are arranged on a vehicle (1) and information suitable for the identification of the vehicle (1) is stored in the transponders (2),
characterized in that
information about a beam direction (4) of the transponder (2) relative to the direction of motion of the vehicle (1) is stored in at least two transponders (2) and provided for being transmitted. - Device according to claim 1,
characterized in that
two transponders (2) having different beam directions are arranged in one vehicle position. - Device according to any one of the preceding claims,
characterized in that
more than two transponders (2) are arranged in various vehicle positions around the vehicle (1). - Device according to claim 3,
characterized in that
the transponders (2) are arranged on or in the wheels of the vehicle (1). - Device according to any one of the preceding claims,
characterized in that
the information stored in the transponder (2) and provided for being transmitted contains an identification of the vehicle type. - Device according to any one of the preceding claims,
characterized in that
a transmitting and receiving device (3) is provided in a vehicle (1). - Device according to claim 6,
characterized in that
the transmitting and receiving device (3) is connected to a vehicle assistance system. - Method for detecting vehicles (1) and the approach angles thereof relative to one's own vehicle (1) by means of passive or active transponders (2) that are provided on the vehicles (1) and excited by a transmitting and receiving device (3) to transmit information stored in the transponders (2), said transmitting and receiving device (3) being attached to one's own vehicle (1), wherein the information transmitted by the transponders (2) is received by the transmitting and receiving device (3),
characterized in that
the information transmitted by the transponders (2) contains information about the vehicle type and about the beam direction of the transponders (2) relative to the direction of motion, and that the direction of approach of the vehicle (1) and the vehicle type of the approaching vehicle (1) are determined by means of this information. - Method according to claim 8,
characterized in that
the propagation time of the signals from the emission of an activating signal by the transmitting and receiving device (3) to the reception of a piece of information transmitted by a transponder (2) by the transmitting and receiving device (3) is taken into consideration. - Method according to claim 9 or 8,
characterized in that
the determined information is used for supporting the prediction of an own trajectory and of a potential collision trajectory. - Method according to any one of claims 8 to 10,
characterized in that
the determined information is used for predicting a severity of an accident and for determining suitable protective measures in active and passive safety. - Method according to any one of claims 8 to 11,
characterized in that
the determined information contains a communication address for a point-to-point communication with an approaching vehicle (1) and can be used for directly contacting said vehicle (1) in the case of a detected dangerous situation.
Applications Claiming Priority (2)
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| DE102007040989 | 2007-08-29 | ||
| PCT/EP2008/059462 WO2009037021A1 (en) | 2007-08-29 | 2008-07-18 | Device and method for detecting vehicles and the approach angles thereof |
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| DE102009057978A1 (en) * | 2009-12-11 | 2011-06-16 | Continental Safety Engineering International Gmbh | Position/motion prediction device for use in e.g. collision prediction device to predict e.g. position of target vehicle to predict imminent collision of vehicle, has computing unit predicting positions from radial distances of road user |
| US8525694B2 (en) * | 2010-12-21 | 2013-09-03 | Ford Global Technologies, Llc | Radio frequency identification object tracking |
| JP5761360B2 (en) * | 2011-10-03 | 2015-08-12 | トヨタ自動車株式会社 | Vehicle driving support system |
| US9013286B2 (en) * | 2013-09-23 | 2015-04-21 | Volkswagen Ag | Driver assistance system for displaying surroundings of a vehicle |
| US9830814B2 (en) * | 2015-07-20 | 2017-11-28 | Dura Operating, Llc | System and method for transmitting detected object attributes over a dedicated short range communication system |
| US9959765B2 (en) * | 2015-07-20 | 2018-05-01 | Dura Operating Llc | System and method for providing alert to a vehicle or an advanced driver assist system based on vehicle dynamics input |
| US10670413B2 (en) * | 2016-01-11 | 2020-06-02 | International Business Machines Corporation | Travel planning based on minimizing impact of vehicular emission |
| DE102016201814A1 (en) * | 2016-02-05 | 2017-08-10 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for sensory environment detection in a vehicle |
| CN110874951B (en) * | 2018-08-31 | 2023-03-14 | 阿里巴巴（中国）有限公司 | Road condition rendering method, device, equipment and medium |
| US11364905B2 (en) | 2019-05-16 | 2022-06-21 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Scrape detection for motor vehicle |
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| DE4411125C2 (en) | 1993-04-01 | 1996-05-09 | Man Nutzfahrzeuge Ag | Information system |
| DE69317266T2 (en) * | 1993-05-11 | 1998-06-25 | St Microelectronics Srl | Interactive traffic monitoring method and device |
| DE19828693A1 (en) * | 1998-06-26 | 1999-12-30 | Volkswagen Ag | Method and control device for minimizing the consequences of accidents |
| GB2342251A (en) | 1998-09-29 | 2000-04-05 | Secr Defence | Proximity measuring apparatus |
| US6420996B1 (en) | 2001-08-08 | 2002-07-16 | Ford Global Technologies, Inc. | Integrated radar and active transponder collision prediction system |
| JP2003058995A (en) * | 2001-08-15 | 2003-02-28 | Fujitsu Ltd | Traffic support programs and devices |
| US6609057B2 (en) * | 2002-01-23 | 2003-08-19 | Ford Global Technologies, Llc | Method and apparatus for activating a crash countermeasure using a transponder having various modes of operation |
| US6452535B1 (en) * | 2002-01-29 | 2002-09-17 | Ford Global Technologies, Inc. | Method and apparatus for impact crash mitigation |
| AU2002951852A0 (en) | 2002-10-04 | 2002-10-24 | Rf Innovations Pty Ltd | Proximity detection system and method |
| DE10253192A1 (en) * | 2002-11-15 | 2004-05-27 | Philips Intellectual Property & Standards Gmbh | Anti-collision system for use with road vehicle has position determining computer with GPS receiver and has radio transmitter ending signals to equipment carried by pedestrians |
| DE10352952A1 (en) * | 2003-11-13 | 2005-06-23 | Audi Ag | Device for detecting a moving or non-moving object provided with at least one marking |
| DE102004020573B4 (en) * | 2004-04-27 | 2013-04-04 | Daimler Ag | Method for initiating safety measures for a motor vehicle |
| JP2006285552A (en) * | 2005-03-31 | 2006-10-19 | Sato Corp | Information notification system |
| JP4813141B2 (en) * | 2005-10-05 | 2011-11-09 | 川崎重工業株式会社 | Information provision device |
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| US8531281B2 (en) | 2013-09-10 |
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