EP3546308A1 - Procédé de fonctionnement d'un appareil de commande, véhicule automobile et programme informatique - Google Patents

Procédé de fonctionnement d'un appareil de commande, véhicule automobile et programme informatique Download PDF

Info

Publication number: EP3546308A1
Authority: EP; European Patent Office
Prior art keywords: data; motor vehicle; collision; control device; driving situation
Prior art date: 2018-03-29
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Granted

Application number

EP19152380.2A

Other languages

German (de)

English (en)

Other versions

EP3546308B1 (fr

Inventor

Christian Al Haddad

Alejandra Escudero Chaverra

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Audi AG

Original Assignee

Audi AG

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2018-03-29

Filing date

2019-01-17

Publication date

2019-10-02

2019-01-17 Application filed by Audi AG filed Critical Audi AG

2019-10-02 Publication of EP3546308A1 publication Critical patent/EP3546308A1/fr

2022-01-05 Application granted granted Critical

2022-01-05 Publication of EP3546308B1 publication Critical patent/EP3546308B1/fr

Status Active legal-status Critical Current

2039-01-17 Anticipated expiration legal-status Critical

Images

Classifications

- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera

Definitions

the invention relates to a method for operating a control device of a motor vehicle, wherein the control device is designed for fully automatic guidance of the motor vehicle by evaluating driving situation data comprising environment data of at least one environmental sensor of the motor vehicle, which are supplied to the control unit.
the invention relates to a motor vehicle and a computer program.
a significant proportion of the driving situation data represent environmental data that are supplied by various environmental sensors of the motor vehicle.
environment sensors may include, for example, radar sensors, lidar sensors, ultrasound sensors and in particular also cameras, their image data as environmental data usually evaluated by various image processing algorithms and can be converted into useful, the driving situation descriptive information.
Due to the high quality and thus amount of image data of modern cameras it is known to use high-speed data connections and high-speed interfaces to the controller to quickly transmit the large amount of generated image data to the controller, so that in the image data contained, the driving situation descriptive information can be reacted as quickly as possible.
the control units themselves have a mostly rather small-sized buffer memory in which also driving situation data of at least one previous time step can still be provided, in particular also with regard to the tracking of changes in the driving situation.
DE 100 29 401 A1 relates to a method for event-based storage of vehicle system data, wherein an interface to a vehicle system bus is used.
Vehicle system bus data present on the vehicle system bus can be stored in a memory via the vehicle system bus upon receipt of a storage command.
driver command data and constraint data are recorded.
the storage event may be a detected vehicle accident. Even such an approach only reacts when an accident has occurred and has the further disadvantage that the vehicle system bus is often clearly too slow, so further delays occur, which can lead to no data in case of power failure or the like in an accident the driving activity of the driver can be stored more.
DE 10 2004 045 813 A1 relates to a system and method for predictively detecting an accident hazard situation.
it is sensed in the blind spot of the motor vehicle in order to be able to detect data relating to a potential accident object.
At least one suitable occupant protection measure may be activated in response to data collected by the tote-angle sensing device.
the probability of a side accident can be estimated in different ways by means of suitable algorithms.
Other ways of increasing the safety of occupants of motor vehicles, particularly the driver, who are monitoring for collisions have also been proposed.
EP 0 891 903 A2 relates to an automatic emergency braking function designed to allow the driver maximum decision sovereignty in avoiding obstacles without sacrificing the benefits of a collision-control system assisting the driver in the event of an actual collision situation. Accordingly, it is provided to give the driver of the vehicle as long as possible the opportunity to avoid the collision by himself to be undertaken by actions such as braking and / or steering operations. Only when due to the physical physical conditions, resulting from the driving condition of the vehicle and the collision constellation, a collision is clearly unavoidable, is an automatically triggered and preferably strongest possible deceleration of the vehicle decelerated before the collision so that the Accident consequences for driver and vehicle are thereby minimized.
the environmental data or sensor signals supplied by the local detection device can be stored in a memory device, in particular also image signals of a camera device.
DE 10 2013 212 092 A1 relates to a method and apparatus for operating a pedestrian protection device of a vehicle.
a type of collision object is to be determined, wherein with respect to the data of the environment sensors that describe this collision object, when a threshold value for the impact probability is exceeded, a freeze state can be established in order to have data on the collision object in each case.
DE 10 2016 222 219 A1 relates to a driver assistance system for a motor vehicle, in which geo-positions of the vehicle, which have an increased probability of triggering a collision avoidance system, are self-learning to take into account when re driving the spatial environment around the stored vehicle position in preparation for a hazard warning or emergency braking. With the vehicle position also more data can be stored.
DE 10 2015 218 762 A1 discloses a method and apparatus for accident data storage for a vehicle. There it is proposed to give accident-relevant vehicle data not only to an interface to an in-vehicle storage device for storing the accident-relevant vehicle data in a detected imminent accident of the vehicle, but also to an interface to a transmission device for transmitting the accident-relevant vehicle data to at least one vehicle external storage device Saving the accident-relevant vehicle data. Thus it can be achieved that no information can be lost, which may be important for reconstructing the accident.
the invention is based on the object of specifying a possibility for better documentation of accidents of a completely automatically operated motor vehicle.
the invention therefore proposes to provide a dedicated, additional storage means within the control unit itself and also to generate within the control unit itself by evaluation of driving situation data, a trigger signal indicative of a most likely imminent collision accident of the motor vehicle to at least part of the current environment data continuously in storing this memory means, so that an excellent basis is created to evaluate at a later time the occurrence of the accident, for example, a question of guilt and / or a possibly occurred error in the fully automatic guidance of the motor vehicle.
the storage means is preferably used in addition to a smaller, continuously used buffer memory of the controller, so that even larger amounts of data, as can be expected for example by image data of a camera over the longer period within the storage means can be kept.
an SSD and / or eMMC can be used as a storage means, so that as quickly as possible in an imminent accident, storage of the documentary data suitable for documentation, in particular of the part of the environment data, can take place.
the trigger signal is an internal signal of the controller, ensures maximum utilization of the available time for Saving at least the part of the environment data and optionally further documentation data.
the part of the environmental data to be stored when the threshold value is exceeded by the collision probability is selected to comprise at least image data from a camera as environmental sensor.
the part of the environmental data to be stored may preferably also include radar data of a radar sensor as environment sensor, after radar data in the analysis of an accident can also provide particularly useful information, in particular relative speeds and / or distances.
the environment data, in particular the part of the environmental data to be stored are transmitted to the control unit at least partially via a high-speed interface.
the threshold value can be suitably selected in a range of 40 to 70%, in particular 50%.
a value of 50% has proven to be expedient in the use of conventional algorithms for determining the collision speed, as are known in the prior art, in order not only to obtain a suitably dimensioned period of time before the actual collision, but also not often to generate the trigger signal, thus covering too many false alarms that are not followed by an actual accident.
both the activation and the deactivation can advantageously be based on the same threshold value; if appropriate, a somewhat lower value than the threshold value for generating the trigger signal may also be selected as the further threshold value, in order to avoid storage for short periods, which is then aborted immediately, and in any case to achieve continuous recording over a significant period of time, even if no accident will take place. For example, 50% can be selected as the threshold value for generating the trigger signal, and 40% as the further threshold value.
expedient the evaluation of the collision probability after the occurrence of the collision which can be determined for example by a collision sensor of the motor vehicle, can be canceled if then there is still electrical energy within the controller.
it may be provided to store at least the part of the environment data in the storage means for a predetermined period of time after the occurrence of the collision or to end the period of storage in the storage means already with the occurrence of the collision.
the invention also relates to a motor vehicle, comprising a vehicle system for completely automatic guidance of the motor vehicle with a control device designed for carrying out the method according to the invention and at least one surroundings sensor. All statements relating to the method according to the invention can be analogously transferred to the motor vehicle according to the invention, with which therefore also the already mentioned advantages can be obtained.
a computer program according to the invention is for example directly loadable into a memory of a control unit of a motor vehicle and has program means for carrying out the steps of a method according to the invention when the computer program is executed in the control unit of the motor vehicle.
the computer program can be stored on an electronically readable data carrier which thus contains electronically readable control information stored thereon, which record at least one computer program according to the invention and are designed such that they perform a method according to the invention when the data carrier is used in a control unit of a motor vehicle.
Fig. 1 shows a schematic diagram of a motor vehicle 1 according to the invention, which has a completely automatic guidance of the motor vehicle trained vehicle system 2 with a control unit 3.
the control unit 3 receives as driving situation data in addition to operating data of the motor vehicle 1 environmental data from environmental sensors of the motor vehicle 1, with cameras 4 and radar sensors 5 being shown here by way of example.
a high-speed data connection with a corresponding high-speed interface to the control device 3 is used.
the driving situation data are evaluated in order to generate driving interventions describing control signals for corresponding actuators of the motor vehicle 1, whereby in the present case only a motor 6, a braking device 7 and a steering system 8 are shown.
the motor vehicle 1 may also include, for example, crash sensors 9 designed as acceleration sensors. These deliver their corresponding sensor data as well to the control unit 3.
Fig. 3 shows the structure of the control unit 3 in more detail. At least part of the environment data, in particular the surrounding data of the cameras 4, are received via a high-speed interface 10.
the control unit 3 also has other interfaces, for example to a vehicle bus system and / or for other direct connections.
a collision documentation unit 14 is also realized by the computing device 12.
Driving situation data which are evaluated by the computing device 12, are temporarily stored in a buffer memory 15 of the control unit 3.
the control unit 3 also has a memory means 16 dimensioned larger than the buffer memory 15, in this case an SSD, in which documentation data concerning an accident of the motor vehicle 1 can be recorded.
the collision documentation unit 14 further evaluates the driving situation data in order to determine a collision probability of the motor vehicle 1 with a foreign object. If this collision probability exceeds a threshold value, in this case 50%, an internal trigger signal is generated in the control unit 3, which ensures that a defined part of the environment data, together with other defined driving situation data and / or operating data of the motor vehicle 1, continuously into the storage means 16 is stored, which may also be at least partially deleted on receipt of the trigger signal if necessary, in particular, if it still documentation data are stored, which originate from a driving situation in which there was a high probability of collision, but no accident has occurred.
the defined part of the environmental data to be stored comprises at least the image data of the cameras 4 and the radar data of the radar sensors 5.
the period for which such actual respective documentation data is stored in the memory means 16 can be dimensioned until the collision probability among the or another threshold, here 40% falls. However, if a collision actually occurs, which can be detected by the collision sensors 9, the occurrence of the collision can also mark the end of the storage; However, it is also conceivable, in particular if the power supply of the control unit 3 is maintained, to continue to store, for a predetermined period of time beyond the collision time, further documentation data comprising at least the defined part of the environmental data in the memory means 16.
documentation data is already stored prior to an occurring collision in a high-quality evaluation and analysis of the accident-receiving amount.
the documentation data can be read out and analyzed at a later time.
collision probability which is determined here can also be used for other purposes, for example in a security system likewise implemented by the control unit 3, which preconditions occupant restraining means or the like.

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Physics & Mathematics (AREA)
General Physics & Mathematics (AREA)
Engineering & Computer Science (AREA)
Multimedia (AREA)
Traffic Control Systems (AREA)

EP19152380.2A 2018-03-29 2019-01-17 Procédé de fonctionnement d'un appareil de commande, véhicule automobile et programme informatique Active EP3546308B1 (fr)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
DE102018204883.5A DE102018204883B4 (de)	2018-03-29	2018-03-29	Verfahren zum Betrieb eines Steuergeräts, Kraftfahrzeug und Computerprogramm

Publications (2)

Publication Number	Publication Date
EP3546308A1 true EP3546308A1 (fr)	2019-10-02
EP3546308B1 EP3546308B1 (fr)	2022-01-05

Family

ID=65324145

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP19152380.2A Active EP3546308B1 (fr)	2018-03-29	2019-01-17	Procédé de fonctionnement d'un appareil de commande, véhicule automobile et programme informatique

Country Status (2)

Country	Link
EP (1)	EP3546308B1 (fr)
DE (1)	DE102018204883B4 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN114715151A (zh) *	2022-04-29	2022-07-08	阿波罗智能技术(北京)有限公司	车辆控制方法、装置、电子设备、介质和自动驾驶车辆

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DE102019209572A1 (de) *	2019-06-29	2020-12-31	Robert Bosch Gmbh	Sensoreinheit für ein Fahrzeug sowie ein Fahrzeug mit einer solchen Sensoreinheit
DE102020120537A1 (de)	2020-08-04	2022-02-10	Bayerische Motoren Werke Aktiengesellschaft	Verfahren und Steuereinheit zur Sicherstellung der Energieversorgung bei einem Unfallereignis
EP4250257A1 (fr) *	2022-03-22	2023-09-27	Zenseact AB	Priorisation de stockage de la mémoire tampon d'événement

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DE10231558A1 (de) *	2001-07-11	2003-01-30	Bosch Gmbh Robert	Verfahren und Vorrichtung zum automatischen Auslösen einer Verzögerung eines Fahrzeugs

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EP0891903B1 (fr) *	1997-07-17	2009-02-11	Volkswagen Aktiengesellschaft	Fonction automatique de frein de secours
DE10029401A1 (de) *	2000-06-15	2001-12-20	Pascal Munnix	Verfahren zum ereignisbedingten Abspeichern von Fahrzeugsystemdaten
DE102004045813B4 (de) *	2004-09-22	2017-09-28	Robert Bosch Gmbh	System und Verfahren für ein vorrausschauendes Detektieren einer Unfallgefahrensituation
DE102013212092B4 (de) *	2013-06-25	2024-01-25	Robert Bosch Gmbh	Verfahren und Vorrichtung zum Betreiben einer Fußgängerschutzeinrichtung eines Fahrzeugs, Fußgängerschutzeinrichtung
DE102015218762A1 (de) *	2015-09-29	2017-03-30	Robert Bosch Gmbh	Verfahren und Vorrichtung zur Unfalldatenspeicherung für ein Fahrzeug
DE102016222219A1 (de) *	2016-11-11	2018-05-17	Robert Bosch Gmbh	Fahrerassistenzsystem für ein Kraftfahrzeug

2018
- 2018-03-29 DE DE102018204883.5A patent/DE102018204883B4/de not_active Expired - Fee Related
2019
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DE10231558A1 (de) *	2001-07-11	2003-01-30	Bosch Gmbh Robert	Verfahren und Vorrichtung zum automatischen Auslösen einer Verzögerung eines Fahrzeugs

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Publication number	Priority date	Publication date	Assignee	Title
CN114715151A (zh) *	2022-04-29	2022-07-08	阿波罗智能技术(北京)有限公司	车辆控制方法、装置、电子设备、介质和自动驾驶车辆

Also Published As

Publication number	Publication date
EP3546308B1 (fr)	2022-01-05
DE102018204883B4 (de)	2020-09-17
DE102018204883A1 (de)	2019-10-02

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DE102007042481B4 (de)	2022-04-07	Fahrzeugsteuersystem für einen Kraftwagen
EP2285632B1 (fr)	2014-09-24	Système d'assistance à la conduite
EP3546308B1 (fr)	2022-01-05	Procédé de fonctionnement d'un appareil de commande, véhicule automobile et programme informatique
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EP2113437A2 (fr)	2009-11-04	Procédé de détermination de domaines libres dans l'environnement pertinent d'un véhicule automobile, notamment pour la direction de véhicule
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DE102013019027A1 (de)	2015-05-13	Verfahren zum Betrieb eines Sicherheitssystems eines Kraftfahrzeugs und Kraftfahrzeug
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WO2018210500A1 (fr)	2018-11-22	Procédé de détermination d'un freinage d'urgence autonome, procédé d'exécution du freinage d'urgence, et dispositif de commande pour un système de dynamique de translation
DE102014215274A1 (de)	2016-02-04	Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
DE102018210454A1 (de)	2020-01-02	Vorrichtung und ein Verfahren zur Überwachung der Aktivität eines Fahrers eines Fahrzeugs
DE102013021813A1 (de)	2015-06-25	Fahrerassistenzsystem mit adaptiver Reaktionsschwelle
DE102007052093B4 (de)	2023-08-10	Erkennung von spontanen Bewegungsänderungen von Fußgängern
DE102010001304A1 (de)	2011-09-15	Verfahren zum Kontrollieren einer Verkehrssituation
DE102020202231A1 (de)	2021-08-26	Verfahren und Vorrichtung zum Bereitstellen eines Trainingsdatensatzes zum Trainieren eines Maschinenlernverfahrens zum Schätzen einer Fahreraufmerksamkeit
DE102013013906B4 (de)	2020-09-10	Verfahren zur Steuerung wenigstens einer Komponente eines Kraftfahrzeugs zur Durchführung einer Schutzmaßnahme
DE102019207518A1 (de)	2020-11-26	Risikoreduzierung im Straßenverkehr
DE102007006757B4 (de)	2013-01-17	Kraftfahrzeug-Sicherheitssystem zur Unterstützung und/oder Schutzgewährung von Fahrzeugführern bei kritischen Fahrsituationen sowie Kraftfahrzeug
DE102008046695A1 (de)	2010-03-11	Verfahren und Vorrichtung zur Identifikation kritischer Fahrsituationen
DE102015002968A1 (de)	2015-08-27	Verfahren zum Betrieb eines Fahrzeuges
DE102017103131A1 (de)	2018-08-16	Verfahren zum Aktivieren mindestens einer Funktion eines Kraftfahrzeugs, Fahrerassistenzsystem und Kraftfahrzeug
DE102013214299A1 (de)	2015-01-22	Anpassen einer geregelten Fahrgeschwindigkeit eines Kraftfahrzeugs im Fall einer erhöhten Latenzzeit der Objektserkennung
EP2617619B1 (fr)	2019-10-30	Procédé de détection de l'environnement d'un véhicule et dispositif d'exécution du procédé

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EP3546308A1 - Procédé de fonctionnement d'un appareil de commande, véhicule automobile et programme informatique - Google Patents

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