DE102009025607A1 - Method for avoiding collision of moving vehicle, involves detecting and estimating object depending periphery conditions determined by vehicle and object, where collision is impended and evasion movement or braking is carried out - Google Patents

Abstract

The method involves detecting and estimating an object depending on periphery conditions determined by the vehicle and the object. A collision is impended and an evasion movement or braking is carried out by engaging in the vehicle steering or brake unit (12) for avoiding the collision. A periphery (16) is monitored and estimated behind the vehicle, whether it comes in collision from back by an object nearing from back. An independent claim is included for a device for the execution of collision avoiding method.

Description

The The invention relates to a method and a device for avoiding the collision of a moving vehicle, in which the in the Detected surrounding objects of the vehicle and depending on the environmental condition determined by the vehicle and the objects it is assessed whether a collision threatens and in this case for avoidance the collision by automatic intervention in the vehicle steering and / or braking device an evasive movement and / or deceleration is initiated.

From the DE 100 36 276 A1 a generic method for automatically braking or evading a moving vehicle is known, if a forward-facing sensor judges due to the environmental condition that otherwise there is a collision. In any case, if a collision is unavoidable, the path where the collision is the least one is selected for several possible avoidance paths. A consideration of subsequent vehicles does not take place.

From the DE 103 36 986 A1 a collision avoidance method is known in which by Naherfassungssensoren the closer surrounding state is detected front and rear and on detection of an imminent collision with a vehicle ahead by automatic intervention in the vehicle steering and / or braking device evasive movement and / or deceleration is initiated. In this case, however, only a detection of the vicinity behind the vehicle, while more distant subsequent objects are taken into account only in the assessment of the environmental condition, if they are known to the system due to earlier detection. Objects approaching from behind are thus not considered.

Of these, Based on the invention, the object is based, a generic Provide method that allows you to yourself From behind fast approaching objects (vehicles) a rear-end collision to avoid. Typically, such a situation occurs at one Jamming up when a subsequent vehicle due to lack of Attention or too high speed no longer able is, in time for the jam end, so the own vehicle for To come to a standstill.

According to the invention solved this task by making the wider environment behind the vehicle is monitored and judged whether it by an approaching from behind object to a rear-end collision will come and in this case a suitable evasive movement and / or Deceleration is initiated.

There Concentration of the driver at approach on Jamming is usually aimed at a start-up To avoid lacking focus on what danger a rear-end collision threatens. Such is the driver's aspiration normally aimed at stopping as soon as possible to come, so a maximum distance to leave the vehicle ahead. If now your own vehicle arrives early or slows down has and too fast a subsequent vehicle in the remaining Space can no longer brake, it comes to rear-end collision. By The invention can in this case by deliberately slackening the brake moved as close as possible to the vehicle in front so that the following vehicle gets more room to brake. If, based on the driving condition of the vehicles, it is judged that a collision is inevitable, so according to the invention a Evasive movement automatically initiated to your own vehicle as far as possible from the braking distance of the following vehicle bring out.

A advantageous development of the invention provides that in the Determining the environmental condition free spaces are determined in which the evasive movement can be directed. If such Free spaces are detected, the automatic takes place Vehicle steering there with the advantage that for himself from behind approaching vehicle a lengthened Braking distance is provided.

In Such a case is preferably possible in the determination Free space a digital road map and a Position determination used on the road map. there become for the determination of possible free spaces preferably the tracks noted in the digital map, street classes including stoppages and entries and exits. This allows the determination of appropriate free spaces determine with improved accuracy. The free space can alternatively or additionally with a camera system and / or radar system and / or IR system.

Provided such a free space is automatically controlled, the vehicle automatically decelerated when the free space is reached.

Yet another advantageous development provides that when it is determined that a free space is not available, only a deceleration takes place, wherein the vehicle in front is just not or only slightly ascended. In this way, behind the rear of your own vehicle, the maximum possible braking distance for the subsequent vehicle provided.

A Apparatus for carrying out the inventive Procedure provides that one forward, including directed to the side area (neighboring tracks) sensors and a rear-facing sensor is present, the latter the Movement of subsequent vehicles detected. The detected vehicles be in terms of distance, speed, lateral coverage, Driving trajectory and acceleration assessed to determine if it will probably come to a rear-end collision.

The The invention will be described below with reference to the accompanying drawings further explained.

there shows:

1 a block diagram of an apparatus for carrying out the method according to the invention;

2 : a schematic representation of an evasive action.

As in 1 illustrated, an apparatus for performing the method according to the invention comprises a control logic 10 that is a braking device 12 or a steering device 14 controls. The control logic 10 receives input signals from a front-end unit 16 which detects or calculates objects in front of the own vehicle with regard to distance, relative speed to the vehicle and acceleration. This is the front environment unit 16 coupled with suitable sensors (for example, mono- or stereo cameras with image processing, radar systems, IR systems and / or optical beam systems).

The control logic 10 also receives input signals from a rear surround unit 18 which detects or calculates objects behind the own vehicle in terms of distance, relative speed, lateral coverage and driving trajectory to the vehicle and acceleration. This is the rear environment unit 18 Also coupled with a suitable sensor technology (for example, mono or stereo cameras with image processing, radar systems, IR systems and / or optical beam systems).

It also gets the control logic 10 from a vehicle dynamics unit 20 Vehicle data of the own vehicle, thus over own speed, steering angle, brake control, gas actuation etc. Finally receives the control logic 10 preferably from a navigation unit 22 Environmental data from a digital map in conjunction with position data, preferably from a satellite navigation system.

Based on the data obtained determines the control logic 10 Whether there is a risk of rear-end collision and then determines the optimal sequence of movements. If suitable free spaces are determined, then the most suitable free space is determined on the basis of size and position and the braking device 12 or the steering device 14 regulated accordingly to steer the vehicle in the free space. The yaw movement in the free space can also be done by Einzelradbremsung. The space in question is advantageously not only monitored with respect to the current situation but also proactively monitored in such a way that no object moves into it in order to avoid a later collision hazard due to the evasive movement. The evasive movement may additionally include an acceleration of the vehicle, for example, when the free space is located in front of a neighboring vehicle, which must be overhauled for carrying out the evasive movement.

By the assignment of roads to street categories or street classes can also be on the probability the presence of persons or pedestrians closed become. Even if driven on a stationary or moving jam end can be concluded on a probability of persons become. About a detection of pedestrians, present in future active personal protection systems People can be detected and an appropriate Freiraumanalyse be performed.

The information available from the digital map the street type, especially about street class (Highway, Highway, Expressway, Single Lane Road, multi-lane road) and / or the vehicle position inside or outside of localities may be at the destination of the free space. This makes it possible, for example, the evasive movement only outside of localities and only to be allowed on roads that have a stationary lane or a Center strip or have any other free track.

With the digital road map and / or by environment detection, it is also possible to determine whether the road used by the vehicle is a road with left-hand or right-hand traffic. This information can be taken into account when defining the free space or the direction of the evasive movement. Thus, it is possible to prioritize the evasive directions or clearances, for example, to the effect that avoidance movements that lead to lanes with oncoming traffic should be avoided or excluded as possible. In particular, it is thus possible to determine whether an adjacent lane is a fast lane of a multi-lane road and to allow an evasive movement to the passing lane only if no overtaking vehicle is in the required clearance or will move into it.

Under free space here all traffic areas, ie passable, paved or paved areas of a road understood, can be avoided, in particular parking lanes, more adjacent lane own lanes, emergency stalls, exits, driveways, acceleration stripes, etc. If no space exists, in can be avoided, by controlling the braking device 12 and / or steering device 14 the available space to the other road users are optimally utilized, for example, by close access to a vehicle in front of his own vehicle or close approach to a side of his own vehicle located another vehicle or a side guardrail, or it is the own vehicle on a restricted usable, not intended as a traffic area side space are directed, for example, on green spaces on the roadside, which are not paved but still passable. The own vehicle can be steered completely or only so far into the side space that the following vehicle does not drive onto the own vehicle. Even if the own vehicle can not be steered so far aside that a collision with the following vehicle is prevented, this can be achieved that the collision takes place as an offset impact, which can lead to a reduction in the severity of the accident.

In 2 an example of an evasion process in three times is shown. At the first time (I) at the top of 2 is your own vehicle 30 in the right lane of a per two-lane road in the column traffic with a preceding vehicle 32 and a vehicle driving behind 34 , which approaches at high speed (positive relative speed) from the rear and thus will lead to a rear-end collision. On the left lane are a number of other vehicles 36 ,

The control logic 10 according to 1 notes that the vehicle behind it 34 is so fast that there will be a rear-end collision, and further provides information based on the available data including information about the preceding vehicle 32 and the left-hand drive vehicles 36 notice that just to the right of your own vehicle 30 a free trail 38 which would be available as a free space.

At the time (II) ( 2 Middle) directs the control logic 10 the vehicle 30 on the lane 38 while the vehicle behind it 34 fast approaching from behind. The vehicle 30 is thus moved out of the danger area. The evasive movement can be initiated automatically immediately after detection of the imminent rear-end collision. Advantageously, however, the driver is warned before initiating the evasive movement. It is particularly advantageous if the evasive movement is only initiated if, following the warning, a predetermined driver action is detected in response to the warning, for example a steering wheel actuation, a brake pedal actuation, an accelerator pedal actuation or an actuation of another input device. The avoidance movement initiated by the system can be overridden or canceled by the driver at any time, for example by steering, braking or accelerating. The driver thus always has the responsibility for his vehicle.

At the time (III) ( 2 below) has the vehicle 30 the stand track 38 achieved, so for the vehicle driving behind 34 an extended braking distance is available.

In an advantageous embodiment of the free space 38 already upon detection of a critical but not necessarily leading to a rear-end collision approach of the vehicle 30 behind the vehicle 34 determined. In such a case, the evasive movement is in the free space 38 anticipatory already initiated upon detection of the critical approach but limited in the transverse direction, as long as the rear-end collision is still avoidable. As avoidable, the rear-end collision is considered, for example, when the following vehicle 34 can avoid the collision by a delay that is less than a predetermined threshold. The restriction in the transverse direction is in particular on the track area of the vehicle 30 traveled own lane. The own lane can be, for example, with a camera-based lane detection system or with the navigation unit 22 determine.

If in a distance-controlled drive or to avoid a collision a controlled braking intervention performed with an object in front of the vehicle this is advantageously carried out in such a way that that at any time to the object for the evasive movement sufficient distance is maintained. This also applies to one Deceleration of the vehicle to a standstill. This is the vehicle at any time possible at a subsequent threatening rear-end collision to be removed from the danger zone.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• DE 10036276 A1 [0002]
• - DE 10336986 A1 [0003]

Claims (18)

A method for avoiding the collision of a moving vehicle, in which the objects located in an environment of the vehicle is detected and judged depending on the determined by the vehicle and the object environment condition, whether a collision threatens, and in this case to avoid the collision Intervention in the vehicle steering and / or braking device an evasive movement and / or deceleration is performed, characterized in that the environment behind the vehicle ( 30 ) and whether it is detected by an object approaching from behind ( 34 ) may come to a rear-end collision, and in this case an evasive movement and / or a brake control is initiated. Method according to claim 1, characterized in that that in the determination of the environmental condition free spaces be determined, in which the vehicle by the evasive movement can be directed. A method according to claim 2, characterized in that in the determination of possible free spaces a digital road map ( 22 ) and a position determination on the road map ( 22 ) be used. A method according to claim 3, characterized in that for the determination of possible free spaces in the digital map ( 22 ) noted traces including stoppages ( 38 ) and entrances and exits are used. Method according to claim 3, characterized in that the vehicle ( 30 ) is slowed down after reaching a free space. A method according to claim 2, characterized in that upon determination that a free space is not available, only a deceleration takes place, wherein the vehicle ahead ( 32 ) is not yet or only slightly ascended. Method according to claim 2, characterized in that that for determining the free spaces camera systems and / or Radar systems and / or IR systems are used. Method according to one of the preceding claims, characterized in that an intervention in the braking device, triggered due to an object in front of the vehicle is performed in such a way that to the object sufficiently large for carrying out the evasive movement Distance is maintained. Method according to one of the preceding claims, characterized in that the evasive movement immediately after Detection of the upcoming rear-end collision initiated automatically becomes. Method according to one of claims 1 to 8, characterized in that the evasive movement in the connection to the detection of the upcoming rear-end collision only after detection a predetermined driver action is initiated. Method according to one of the preceding claims, characterized characterized in that the initiated evasive movement through the Driver can be overridden or canceled at any time. Method according to one of claims 2 to 11, characterized in that by means of a digital road map and / or determined by environment detection, whether it is in the busy road around a street with left or Right-hand traffic and that this information is used in the investigation the free space is taken into account. Method according to one of claims 2 to 12, characterized in that the space in question anticipates is monitored to the effect that no object in this Free space moved in. Method according to one of claims 2 to 13, characterized in that the free space already upon detection a critical but not necessarily a rear-end collision leading approach of the vehicle following Object is detected and that the evasive movement in the free space anticipating the critical approach is introduced while being limited in the transverse direction, as long as the rear-end collision is still avoidable. Method according to one of the preceding claims, characterized in that the evasive movement is the generation a yaw movement by Einzelradbremsung includes .. Method according to one of the preceding claims, characterized in that the evasive movement accelerates the Vehicle includes. Method according to one of the preceding claims, characterized in that the intervention in dependence the road class and / or the vehicle position takes place. Device for carrying out the method according to one of the preceding claims, characterized in that it has a forward-facing sensor ( 16 ) and a rear-facing sensor ( 18 ), the latter being the movement following vehicles ( 34 ) detected.