DE19931161A1 - Distance-sensitive, speed-controlled motor-vehicle road travel method, involves evaluation of predictive data about road conditions - Google Patents
Distance-sensitive, speed-controlled motor-vehicle road travel method, involves evaluation of predictive data about road conditionsInfo
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- DE19931161A1 DE19931161A1 DE19931161A DE19931161A DE19931161A1 DE 19931161 A1 DE19931161 A1 DE 19931161A1 DE 19931161 A DE19931161 A DE 19931161A DE 19931161 A DE19931161 A DE 19931161A DE 19931161 A1 DE19931161 A1 DE 19931161A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0044—In digital systems
- B60W2050/0045—In digital systems using databus protocols
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
Abstract
Description
Die Erfindung betrifft ein Verfahren sowie eine Einrichtung zum abstandssensitiven geschwindigkeitsgeregelten Fahrbetrieb bei Kraftfahrzeugen, bei welchem mit Hilfe einer Abstandssensorik automatisch auf die Beschleunigung und die Bremse eingewirkt wird, gemäß Oberbegriff der Patentansprüche 1 und 7.The invention relates to a method and a device for distance-sensitive speed-controlled driving in motor vehicles, in which with the help of a Distance sensors are automatically acted on the acceleration and the brake, according to the preamble of claims 1 and 7.
Verfahren sowie Einrichtungen dieser Art werden im allgemeinen beim sog. Tempomat- Betrieb eingesetzt. Darüber hinaus besteht jedoch auch der Bedarf, Verfahren und Einrichtungen dieser Art nicht nur im Tempomat-Betrieb, sondern auch im reinen Assistenzbetrieb zur sicherheitstechnischen Fahrerunterstützung einzusetzen. Sogenannte automatische Distanzregelverfahren sind aus dem Stand der Technik vielfach bekannt. So zeigen die EP 0 813 986, die EP 0 813 987 sowie die EP 0 813 988 ein ADR-Verfahren dieser Art, welche zu den abgeforderten Wunschgeschwindigkeiten und Wunschbeschleunigungen, geschwindigkeits- oder abstandsbezogene Sollgeschwindigkeiten und Beschleunigungen ins Verhältnis setzt. Hierbei ist jedoch mehr an eine Anpassung der Fahrdynamik an die gegebene Verkehrssituation gedacht.Processes and devices of this type are generally used in the so-called cruise control Operation. However, there is also a need, process and Devices of this type not only in the cruise control mode, but also in the pure Use assistance operations for safety-related driver support. So-called Automatic distance control methods are widely known from the prior art. So EP 0 813 986, EP 0 813 987 and EP 0 813 988 show an ADR method of this type, which corresponds to the requested speeds and Desired accelerations, speed or distance related Set target speeds and accelerations in relation. However, there is more to this an adaptation of the driving dynamics to the given traffic situation.
Aus der DE 44 37 678 A1 ist darüber hinaus eine Verfahrensweise bekannt, bei denen Wahlschalter zum Abrufen einer mehr oder weniger sportlichen Fahrweise entsprechende Regel- oder Stellgrößenüberlagerungen generieren. Auch hierbei geht der Abstand zum vorausfahrenden Fahrzeug ggf. sogar zu einem Hindernis in die Regelung mit ein.From DE 44 37 678 A1 a method is also known in which Selector switch for retrieving a more or less sporty driving style Generate control or manipulated variable overlays. Here too the distance to vehicle in front may even be an obstacle in the control.
Ein wesentlicher Punkt in der fahrdynamischen Bewertung ist die sog. Längsbeschleunigung, wobei die DE 197 11 819 A1 eine weitergehende Beeinflussung bzw. Überlagerung oder Mitberücksichtigung eines einstellbaren oder vorgebbaren Längsbeschleunigungssollwertes offenbart.An essential point in the dynamic evaluation is the so-called longitudinal acceleration, DE 197 11 819 A1 is a further influencing or overlay or Taking into account an adjustable or predefinable longitudinal acceleration setpoint disclosed.
All diese Verfahren richten ihr Regelziel auf die noch folgende Fahrstrecke. Richtig ist natürlich die Tatsache, daß die nachfolgende Fahrstrecke ja vom Fahrzeug noch erreicht wird. Von der noch zu befahrenden Fahrstrecke wird lediglich der Abstand zu einem Hindernis oder zu einem vorausfahrenden Fahrzeug ggf. eine dazu sich ergebende Relativgeschwindigkeit bewertet. Allein diese Bewertung ist aber unzureichend für die Bewertung der Fahrsituation als Ganzes und auch der Beschaffenheit der noch zu befahrenden Strecke. Somit fehlt Verfahren dieser genannten, bekannten Art die Bewertung solcher Daten, die auf die noch zu befahrende, zukünftige Strecke oder den zukünftigen Streckenabschnitt Rückschlüsse zulassen.All of these methods aim at the following route. Correct is of course the fact that the following route is still reached by the vehicle becomes. From the route still to be traveled, only the distance to one Obstacle or to a vehicle in front, possibly a resulting one Relative speed rated. But this evaluation alone is insufficient for the Evaluation of the driving situation as a whole and also the nature of the too driving route. Thus, methods of this known, known type lack the evaluation such data on the future route to be traveled or the future Allow section to draw conclusions.
Der Erfindung liegt sowohl in verfahrensmäßiger, als auch in einrichtungsmäßiger Weise die Aufgabe zugrunde, die noch zu befahrende Strecke oder den noch zu befahrenden Streckenabschnitt durch eine größere Fülle von Daten differenzierter bewerten zu können und somit die Fahrsicherheit deutlich zu erhöhen.The invention lies in both the procedural and the furnishing manner Task based on the route still to be traveled or the route still to be traveled To be able to assess the route section in a more differentiated manner due to a greater wealth of data and thus significantly increase driving safety.
Bei einem Verfahren der gattungsgemäßen Art wird die gestellte Aufgabe erfindungsgemäß durch die kennzeichnenden Merkmale des Patentanspruches 1 gelöst.In a method of the generic type, the object is achieved according to the invention solved by the characterizing features of claim 1.
Hinsichtlich einer Einrichtung der gattungsgemäßen Art wird die gestellte Aufgabe erfindungsgemäß durch die kennzeichnenden Merkmale des Patentanspruches 7 gelöst.With regard to a device of the generic type, the task is solved according to the invention by the characterizing features of claim 7.
Vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind in den Ansprüchen 2-6 angegeben, und vorteilhafte Ausgestaltungen der erfindungsgemäßen Einrichtung sind in den übrigen Ansprüchen angegeben.Advantageous embodiments of the method according to the invention are in claims 2-6 indicated, and advantageous embodiments of the device according to the invention are in specified the other claims.
Der Kern der Erfindung besteht hierbei darin, daß zusätzlich zu dem Abstand zum vorausfahrenden Fahrzeug oder zu einem Hindernis, oder ggf. sogar die Bewertung von Relativgeschwindigkeiten nun auch prädiktive Streckendaten mitberücksichtigt werden, derart, daß automatische Beschleunigung und automatische Bremsung auf Vorhalt generiert werden können. Mit prädiktiven Streckendaten sind solche gemeint, die den zu diesem Zeitpunkt der Bewertung bereits gefahrenen Streckenabschnitt betreffen. Diese prädiktiven Streckendaten können vielfacher Art sein. Sie können aus einer digitalen Bildauswertung gewonnen werden. Zu den besagten ausgewerteten Daten können Verkehrszeichen gehören oder auch Daten aus einer GPS-unterstützten Navigationseinrichtung. The essence of the invention is that in addition to the distance to vehicle in front or to an obstacle, or possibly even the evaluation of Relative speeds now also take predictive route data into account in such a way that automatic acceleration and automatic braking are generated on lead can be. With predictive route data we mean those that correspond to this Affect the time of the assessment of the section of the route already traveled. These predictive Route data can be of various types. You can use a digital image evaluation be won. Traffic signs can belong to the evaluated data or also data from a GPS-supported navigation device.
Weiterhin können dazugehören, prädiktive Streckendaten in Form von Straßen- und Straßenoberflächenbeschaffenheiten.It can also include predictive route data in the form of road and Road surface textures.
In allen Fällen führt die Bewertung der prädiktiven Streckendaten zu einem ggf. automatischen oder zumindest assistenzmäßigen Eingriff auf die Beschleunigung und/oder die Bremse. Diese Maßnahmen können dabei zur Realisierung einer entsprechenden Sicherheitsreserve bereits auf regelungstechnischen Vorhalt generiert werden. So können beispielsweise aus der besagten digitalen Bildauswertung Geschwindigkeitsbegrenzungen erkannt werden, die für die künftige Fahrstrecke gelten, oder aber auch die Ankündigung von gewissen Straßenzustandshinweisen oder Gefahrenhinweisen im allgemeinen.In all cases, the evaluation of the predictive route data leads to a possible automatic or at least assistance-based intervention on acceleration and / or the brake. These measures can be used to implement a corresponding Safety reserve can already be generated on control engineering reserve. So can speed limits, for example, from said digital image evaluation recognized, which apply to the future route, or also the announcement of certain road conditions or hazard warnings in general.
Überdies können als prädiktive Streckendaten auch Straßen- und Straßenoberflächenbeschaffenheiten registriert werden, durch entsprechende Haftreibungssensoren oder durch Schwingungssensoren. Eine Bewertung der bisherigen Streckendaten kann eine entsprechende Bewertung der Fahrsituation als solches ermöglichen, wobei die Straßenoberflächenbeschaffenheiten auf die noch künftige Fahrstrecke oder den Streckenabschnitt extrapoliert werden können. Bei einer Mitbewertung solcher Daten wird die Fahrsituation als solches insgesamt erfaßt, und die besagte Beschleunigung oder Bremsung kann an die Straßenoberflächenbeschaffenheit, sowie auch an die durch Verkehrszeichen geregelte Verkehrssituation angepaßt werden. Überdies können durch die digitale Bildauswertung weitere Daten gewonnen werden, die auch eine visuelle Bewertung der noch folgenden Fahrstrecke ermöglichen. Zu den bewerteten Daten auch GPS-gestützte Navigationsdaten hinzuzunehmen, bereichert das System noch deutlich, weil hierdurch auch noch unübersehbare Streckenführungen, die noch zu befahren sind, bereits erkannt werden können. So können beispielsweise nicht übersehbare komplizierte Kurvenführungen vom System frühzeitig erkannt werden und das Fahrverhalten automatisch und regelungstechnisch eingreifend beeinflußt werden. So kann eine unübersichtliche Stelle oder eine gefährliche Kurvenführung zu einer automatischen Bremsung des Fahrzeuges führen und dem Fahrzeugführer auf diese Weise sozusagen automatisch die notwendige Sicherheitsreserve geben.Furthermore, road and road data can also be used as predictive route data Road surface textures are registered by appropriate Stiction sensors or by vibration sensors. An assessment of the previous one Route data can be a corresponding assessment of the driving situation as such enable, the road surface textures to the future Route or the route section can be extrapolated. With a rating such data, the driving situation as a whole is recorded, and the said Acceleration or braking can affect the road surface, as well be adapted to the traffic situation regulated by traffic signs. Moreover can be obtained by digital image evaluation, which is also a enable visual assessment of the following route. About the evaluated data adding GPS-supported navigation data also enriches the system significantly, because this also leads to unmistakable routes that are still to be traveled, can already be recognized. For example, complexities that cannot be overlooked The system detects bends early and the driving behavior automatically and are influenced by control engineering. This can be a confusing place or dangerous cornering for automatic braking of the vehicle lead and the driver automatically in this way, so to speak, the necessary Give safety reserve.
In vorteilhafter Ausgestaltung können der automatische Eingriff auf Beschleunigung und Bremse, sowie ggf. Warnhinweise oder die prädiktiven Informationen selbst, dem Fahrzeugführer akustisch mitgeteilt werden. Dies führt dazu, daß der Fahrzeugführer zusätzlich zum automatischen Eingriff auf Beschleunigung und Bremse, auch eine Information erhält, die ihn für eine nachfolgende schwierige Verkehrssituation aufmerksam macht.In an advantageous embodiment, the automatic intervention on acceleration and Brake, as well as any warnings or the predictive information itself, the Drivers are informed acoustically. This leads to the driver in addition to the automatic intervention on acceleration and brake, also one Receives information that alerts him to a subsequent difficult traffic situation makes.
Die erfindungsgemäße Einrichtung enthält weitere Registrier- und Verarbeitungsmittel zur Erfassung der prädiktiven Streckendaten und der entsprechend nachfolgenden Auswertung und Entscheidung von automatischer Beschleunigungs- oder Bremsauslösung. In weiterer vorteilhafter Ausgestaltung ist als visuelles Registriermittel eine Kamera eingesetzt, welche mit einer nachfolgenden digitalen Bildauswertung verschaltet ist, und daß innerhalb der Bildauswertung visuelle prädiktive Streckendaten ermittelt werden. Dabei kann die Bildauswertung auch verkehrszeichenbezogen sein. Hierbei können Mustererkennungsverfahren zur Bildauswertung hilfreich sein.The device according to the invention contains further registration and processing means for Recording of the predictive route data and the corresponding subsequent evaluation and decision of automatic acceleration or braking release. In another In an advantageous embodiment, a camera is used as the visual registration means, which is connected to a subsequent digital image evaluation, and that within the Image evaluation visual predictive route data can be determined. The Image evaluation can also be related to traffic signs. Here you can Pattern recognition methods can be helpful for image evaluation.
Eine weitere funktionelle Verbindung soll zwischen dem Verarbeitungsmittel und einer GPS- unterstützten Navigationseinheit Daten über die Streckenführung möglich machen, welche mit den üblichen Sensor- und Auswertedaten korrelierbar sind. Dadurch entsteht eine sehr differenzierte Bewertung der Situation, so kompliziert sie auch sein mag.Another functional connection between the processing means and a GPS supported navigation unit make data about the route guidance possible, which can be correlated with the usual sensor and evaluation data. This creates a very differentiated assessment of the situation, however complicated it may be.
In weiterer vorteilhafter Ausgestaltung ist das Verarbeitungsmittel zur akustischen Mitteilung von Informationen und Hinweisen sowie Warnungen mit dem Audiosystem des Fahrzeuges verbunden. Hierüber erhält der Fahrer dann Informationen über die Erfassung von streckenrelevanten Daten und ggf. auch den daraus resultierenden, generierten automatischen Einfluß auf den Fahrbetrieb.In a further advantageous embodiment, the processing means is for acoustic notification of information and instructions as well as warnings with the vehicle's audio system connected. The driver then receives information about the detection of route-relevant data and possibly also the resulting, generated automatic influence on driving.
Zugunsten einer kompakten Bauweise kann die Verarbeitungseinheit von den übrigen Komponenten getrennt sein, und im Heck des Fahrzeuges installiert sein. Dabei ist es vorteilhaft, daß die einzelnen Komponenten über ein fahrzeuginternes Bussystem miteinander verschaltet sind, wodurch zum einen Sensorsignale, und zum anderen stellsignalrelevante Informationen an die Stellglieder gleichermaßen übermittelbar sind. Dadurch entsteht eine einfache Kabelführung, die wiederum eine Separierbarkeit der einzelnen Komponenten zugunsten einer guten Verstauung im Kraftfahrzeug ermöglicht.In favor of a compact design, the processing unit can stand out from the rest Components must be separate and installed in the rear of the vehicle. It is advantageous that the individual components via an in-vehicle bus system are interconnected, which on the one hand sensor signals, and on the other Control signal-relevant information can be transmitted to the actuators equally. This creates a simple cable routing, which in turn is separable individual components in favor of good stowage in the motor vehicle.
Die Erfindung ist in der Zeichnung dargestellt und nachfolgend näher beschrieben. The invention is illustrated in the drawing and described in more detail below.
Die Abbildung zeigt ein Fahrzeug 1 in schematischer Darstellung in Draufsicht, mit einer entsprechend stilisierten Darstellung der einzelnen Komponenten zueinander. Im vorderen Bereich des Fahrzeuges befindet sich der sogenannte und bekannte ADR-Sensor 2, der den Abstand zum vorausfahrenden Fahrzeug oder zu einem vor dem Fahrzeug befindlichen Hindernis mißt. Über den ADR-Sensor 2 lassen sich im Fahrbetrieb mit einer entsprechend korrelierten Zeitmessung auch Relativgeschwindigkeitsbestimmungen innerhalb der nach dem ADR-Sensor geschalteten Elektronik bewerkstelligen. Diese ADR-Elektronik wird datxai wiederum signaltechnisch und stelltechnisch mit einem elektrischen "Gaspedal" 4 und einer elektrisch betätigbaren Bremse 5 verbunden. Mit elektrischem Gaspedal und elektrischer Bremse sind natürlich gemeint, daß die im Fahrzeug vorhandenen Mittel zur Dosierung der Kraftstoffzufuhr und der Betätigung der Bremse elektrisch unterstützt werden. Ferner ist im Fahrzeug eine Displayeinheit, ein sogenanntes Kombiinstrument vorhanden, welches über das interne Bussystem signaltechnisch und informationstechnisch auch mit der ADR- Sensoreinheit verbunden ist. Dieses Kombiinstrument beinhaltet die wichtigsten Anzeigeinstrumente und ist daher im Blickfeld des Fahrzeugführers angeordnet. Dort können auch Anzeigen plaziert sein, welche die erfaßten Daten, und ggf. sogar die daraus ermittelten Streckenbewertungen, in welcher Form auch immer, angezeigt werden. Dabei können beispielsweise Warnhinweise zusätzlich auch optisch angezeigt werden.The illustration shows a vehicle 1 in a schematic representation in plan view, with a correspondingly stylized representation of the individual components to one another. In the front area of the vehicle there is the so-called and known ADR sensor 2 , which measures the distance to the vehicle in front or to an obstacle in front of the vehicle. Using the ADR sensor 2 , relative speed determinations within the electronics connected to the ADR sensor can also be carried out while driving with a correspondingly correlated time measurement. This ADR electronics is in turn connected to an electrical "accelerator pedal" 4 and an electrically actuable brake 5 in terms of signal technology and actuation. By electric accelerator pedal and electric brake are of course meant that the means available in the vehicle for metering the fuel supply and actuating the brake are electrically supported. Furthermore, a display unit, a so-called instrument cluster, is present in the vehicle, which is also connected to the ADR sensor unit via the internal bus system in terms of signal technology and information technology. This instrument cluster contains the most important display instruments and is therefore located in the driver's field of vision. Advertisements can also be placed there, in which form the data recorded, and possibly even the route evaluations determined therefrom, are displayed in whatever form. For example, warnings can also be displayed optically.
Ferner ist im vorderen Bereich des Fahrzeuges eine Kamera 8 angeordnet, welche den Raum vor dem Fahrzeug erfaßt. Der Ausgang der Kamera ist bidirektional mit der im Heck befindlichen elektronischen Auswerteeinheit 7 verbunden. Über diese Signalleitung, die auch über den Fahrzeugbus 10 geführt werden kann, wird die Kamera 8 gesteuert, und gleichzeitig empfängt und sendet sie auch die Bilder an die Auswerteeinheit 7 im Heck des Fahrzeuges 1. Ferner ist die besagte Auswerteeinheit 7 mit dem Audiosystem 9 des Fahrzeuges 1 verbunden. Hierüber werden die relevanten Streckendaten und ggf. den daraufhin ausgelösten Eingriff auf das elektrische "Gaspedal" 4 oder die Bremse 5 akustisch mitgeteilt. Der Fahrzeugführer kann dabei noch einmal einen logischen Abgleich und eine Verifizierung der bewerteten Situation vornehmen und ggf. auch korrigierend eingreifen.Furthermore, a camera 8 is arranged in the front area of the vehicle, which captures the space in front of the vehicle. The output of the camera is bidirectionally connected to the electronic evaluation unit 7 located in the rear. The camera 8 is controlled via this signal line, which can also be routed via the vehicle bus 10 , and at the same time it also receives and sends the images to the evaluation unit 7 in the rear of the vehicle 1 . Furthermore, said evaluation unit 7 is connected to audio system 9 of vehicle 1 . The relevant route data and, if necessary, the intervention in the electrical "accelerator pedal" 4 or the brake 5 that is triggered as a result thereof are communicated acoustically. The vehicle driver can again carry out a logical comparison and verification of the assessed situation and, if necessary, intervene to correct it.
Wichtig ist hierbei, daß es eine wesentliche Verbesserung in der sicherheitstechnischen Fahrerassistenz bewirkt und das System zum anderen auch einfach installierbar ist. Der Gewinn an Sicherheit ist dabei enorm, weil aus der Bewertung prädiktiver Streckendaten auf die zukünftige Fahrstrecke oder auf den zukünftigen Fahrstreckenabschnitt geschlossen werden kann.It is important here that there is a significant improvement in safety Driver assistance and the system is also easy to install. The The gain in safety is enormous, because from the evaluation of predictive route data the future route or closed on the future route section can be.
Die vorausschauende sicherheitsrelevante Extrapolation zu erwartender Streckeninformationen oder Streckenbeschaffenheiten aus prädiktiven Daten verknüpft mit aktuell sensorisch erfaßbaren Parametern liefern eine optimale Bewertung auch zu erwartender Situationen.The predictive security-relevant extrapolation to be expected Route information or route characteristics from predictive data linked with Parameters that can currently be sensed also provide an optimal evaluation expected situations.
Im einzelnen heißt dies, daß eine Abstandsregelung bzw. eine abstandsbezogene Geschwindigkeitsregelung mit Abstandssensoren alleine in vielen Situationen nicht hinreichend ist. Zur Verbesserung dieser Situation kommt nun eine Berücksichtigung von Streckendaten hinzu, die die Beschaffenheit der Strecke und zukünftige sowie gegebene Situationen mitverarbeiten. Hierzu gehören auch Situationsdaten oder Streckendaten, die prädiktiv sind, also die bereits befahrene Fahrstrecke betreffen. Daten über die bisherige Fahrbahnbeschaffenheit sind deshalb wichtig, weil nur diese bereits faktisch sind und nicht spekulativ. Über eine visuelle Aufnahme vom Fahrzeug aus, beispielsweise gerade passierter Verkehrszeichen, ist aber auch eine vorausschauende Bewertung möglich. Dies beispielsweise bei Erkennung und entsprechender Auswertung von Gefahrenschildern oder beispielsweise die für eine nachfolgende Strecke wesentlichen Baustellenhinweise. Dies mit der abstandsbezogenen Geschwindigkeitsregelung zu verbinden, schafft ein Höchstmaß an Sicherheitsassistenz im Fahrbetrieb.Specifically, this means that a distance control or a distance-related Speed control with distance sensors alone is not possible in many situations is sufficient. To improve this situation, consider now Route data is added that shows the nature of the route and future as well as given Process situations. This also includes situation data or route data that are predictive, i.e. affect the route already traveled. Data about the previous one Road conditions are important because only these are factual and not speculative. Via a visual recording from the vehicle, for example straight passed traffic signs, but a forward-looking assessment is also possible. This for example when recognizing and evaluating hazard signs or for example the construction site information essential for a subsequent route. This with Combining the distance-related speed control creates a maximum Safety assistance while driving.
Die visuelle Erfassung und logische Verarbeitung von erfaßten Bilddaten kann soweit gehen, daß über besagte Mustervergleichsverfahren, Gefahrensituationen auch optisch erfaßbar und in der Regelung auch technisch entsprechend umsetzbar sein können. Durch eine entsprechende akustische Rückkoppelung kann sich der Fahrer stets vergewissern, ob das System die Situation richtig deutet und kann dann auch entsprechend korrigierend eingreifen. Auch diese korrigierende Maßnahmen können in das logische System rückgekoppelt werden um das System auf diese Weise lernfähig, also adaptiv zu gestalten. Die Einbindung GPS- gestützter Daten ermöglicht die vorausschauende Berücksichtigung von Streckenführungen, wie oben bereits angegeben.The visual capture and logical processing of captured image data can go as far as that through said pattern comparison process, dangerous situations can also be detected optically and can also be implemented technically accordingly in the regulation. By a appropriate acoustic feedback, the driver can always make sure that this System correctly interprets the situation and can then take corrective action accordingly. These corrective measures can also be fed back into the logical system in order to make the system adaptive in this way. The integration of GPS supported data enables the anticipatory consideration of routes, as stated above.
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