WO2001097196A1 - Driver-assistance system - Google Patents

Driver-assistance system Download PDF

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Publication number
WO2001097196A1
WO2001097196A1 PCT/EP2001/006184 EP0106184W WO0197196A1 WO 2001097196 A1 WO2001097196 A1 WO 2001097196A1 EP 0106184 W EP0106184 W EP 0106184W WO 0197196 A1 WO0197196 A1 WO 0197196A1
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WO
WIPO (PCT)
Prior art keywords
driver
data
driving
recommendations
driving recommendations
Prior art date
Application number
PCT/EP2001/006184
Other languages
German (de)
French (fr)
Inventor
Werner Richter
Original Assignee
Daimlerchrysler 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.)
Filing date
Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2001097196A1 publication Critical patent/WO2001097196A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard

Definitions

  • the object of the invention is to create a driver-assisting assistance system for an optimal driving style while maintaining the route in confusing traffic situations.
  • the basic idea of the solution according to the invention is: the expansion of the driver's field of vision, which is restricted by crests, bends, forest stands on the roadside, etc., by means of a computer-assisted, forward-looking traffic analysis and driving recommendations derived therefrom.
  • Such field of vision restrictions both lead to a lack of information about the traffic on the route sections lying in front of the driver. This can result in an inappropriate driving style due to the vehicle speed being too high or too low, unnecessary acceleration and braking maneuvers, lane changes, etc.
  • the proposed assistance system contributes to one! Avoidance of these information gaps and on the other hand recommends a driving style that is adapted to the traffic situation and the route of the sections of the route ahead of the driver with regard to speed, overtaking maneuvers, lane selection, etc.
  • the assistance system can also directly in automatic control systems of the vehicle intervene, such as in a cruise control or in an automatic spacing system.
  • Route and vehicle data from the sources listed below are processed by the assistance system according to the invention.
  • GPS navigation system floating car data, extended floating car data and digital road map.
  • the solution according to the invention enables advantageous driving preservation and an advantageous driving strategy and thus enables optimization of traffic safety, driving comfort and the conservation of resources.
  • the driver uses a mobile phone to report to a traffic control center that he would like to adapt his driving strategy on the way from location A to location B to the traffic and route conditions.
  • this message can also with any other suitable transmitter via radio.
  • the determined driving strategy essentially contains recommendations for the speed, acceleration, distance to the vehicle in front and the choice of lane [• • -
  • the recommendations for an optimal speed are aimed at avoiding unnecessary acceleration and braking processes and still being able to reach the destination as quickly, safely and stress-free as possible in the current traffic situation. It has been shown that short-term speed peaks bring little or no time gain from a certain traffic density. However, with constant acceleration and braking, they mean increased driver stress, reduced safety, reduced level of comfort and increased petrol consumption.
  • the values determined for the driving strategy in this way are sent by the traffic control center as recommendations on a display of the calling vehicle and / or transmitted to it acoustically with a loudspeaker.
  • the driver can be advised to do without acceleration measures and, if necessary, to reduce his own speed.
  • control signals sent by the traffic control center can also intervene directly in vehicle-internal control systems, e.g. into a cruise control or into an automatic spacing system in order to automatically execute the optimal driving strategy without the driver's involvement.
  • vehicle-internal control systems e.g. into a cruise control or into an automatic spacing system in order to automatically execute the optimal driving strategy without the driver's involvement.
  • the data of the vehicles in front can also be recorded directly by radio in the vehicle of the system user using the on-board computer, and the on-board computer can determine the optimal driving strategy, taking into account the location determined by GPS and a digital road map stored in the on-board computer, and on a display and / or output loudspeakers, or intervene in the vehicle's internal control systems.

Abstract

The invention relates to a driver-assistance system that is designed to allow an optimum driving performance while keeping to the itinerary in difficult traffic situations. To this end, the calculation of driver's recommendations is based on FCD data and X-FCD data which relate to the driver's own driving situation and the traffic situation ahead. The inventive system is used in driver-assistance systems that utilize GPS data for determining the actual position of the vehicle and digital road maps for determining the local route orientation and direction of travel and an output of computer-based driver's recommendations to the system user utilizing said system.

Description

Fahrerunterstützendes Assistenzsvstem Driver support system
Die Erfindung betrifft ein fahrerunterstützendes Assistenzsys- tem für Kraftf hrzeuge gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a driver assistance system for motor vehicles according to the preamble of claim 1.
Es sind fahrerunterstützende Assistenzsystεme bekannt, die in Verbindung mit einem Fahrzeug-Navigationssystem, einer elektronischen Straßenkarte, ermittelten Fahrzeugdaten, wie der aktuellen Fahrzeuggeschwindigkeit, und Umgebungsd ten, wie der Außentemperatur und der Luftfeuchtigkeit, dem Fahrer extern ermittelte Hinweise zum optimalen Fahrverhalten in Kurven in das Fahrzeug übersenden und anzeigen (DE 42 01 142 AI) . Auch sind derartige Systeme zur Routenplanung bekannt geworden, die dem Fahrer für seinen bekannten Standort und bekannten, dort vorherrschenden Verkehrsflußbedingungen Empfehlungen für seine Routenwahl übermi1 eIn.Driver support assistance systems are known which, in conjunction with a vehicle navigation system, an electronic road map, determined vehicle data, such as the current vehicle speed, and ambient data, such as the outside temperature and air humidity, provide the driver with externally determined information about the optimal driving behavior in curves Send and display vehicle (DE 42 01 142 AI). Systems for route planning of this type have also become known which provide the driver with recommendations for his route selection for his known location and known, prevailing traffic flow conditions.
Aufgabe der Erfindung ist es, ein fahrerunterstützendes Assistenzsystem für eine optimale Fahrweise unter Beibehaltung der Route in unübersichtlichen Verkehrssituationen zu schaffen.The object of the invention is to create a driver-assisting assistance system for an optimal driving style while maintaining the route in confusing traffic situations.
Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Patentanspruchs 1 gelöst . Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by the features of claim 1. Developments of the invention are specified in the subclaims.
Grundidee der erfindungsgemäßen Lösung ist: die Erweiterung des 3lickfeldes eines Fahrzeugführers , das durch Kuppen, Biegungen, Waldbeständε am Straßenrand, etc. eingeschränkt ist, mittels einer rechnerunterstützten, vorausschauenden Verkehrsanalyse und daraus abgeleitenden Fahrempfehlungen. Derartige Blickfeldeinschränkungen führen sowohl zu mangelnden Informationen über das Verkehrsgeschehen auf den vor dem Fahrer liegenden Streckenabschnitten. Dieses kann eine unangepasste Fahrweise durch eine zu hohe oder zu niedrige Fahrzeuggeschwindigkeit, durch unötige Beschleunigungs- und Brems anöver, Spurwechsel, etc. bewirken.The basic idea of the solution according to the invention is: the expansion of the driver's field of vision, which is restricted by crests, bends, forest stands on the roadside, etc., by means of a computer-assisted, forward-looking traffic analysis and driving recommendations derived therefrom. Such field of vision restrictions both lead to a lack of information about the traffic on the route sections lying in front of the driver. This can result in an inappropriate driving style due to the vehicle speed being too high or too low, unnecessary acceleration and braking maneuvers, lane changes, etc.
Das vorgeschlagene Assistenzsystem trägt zum einen zu einer! Vermeidung dieser Informationslücken bei und empfiehlt zum anderen eine auf die VerkehrsSituation und die Streckenführung der vor dem Fahrer liegenden Streckenabschnitte angepaßte Fahrweise bezüglich der Geschwindigkeit, Überholmanöver, Spurwahl, etc.. In einer alternativen Ausgestaltung der Erfindung kann das Assistenzsystem auch direkt in automatische Kontrollsysteme des Fahrzeuges eingreifen, wie z.B. in einen Tempomat oder in ein automatisches Abstandhaltungssystem.The proposed assistance system contributes to one! Avoidance of these information gaps and on the other hand recommends a driving style that is adapted to the traffic situation and the route of the sections of the route ahead of the driver with regard to speed, overtaking maneuvers, lane selection, etc. In an alternative embodiment of the invention, the assistance system can also directly in automatic control systems of the vehicle intervene, such as in a cruise control or in an automatic spacing system.
Zur Ermittlung des Verkehrszustandes auf einem vorausliegendenTo determine the traffic condition on a road ahead
1 I 1 1 I 1
Streckenabschnitt werden von dem erfindungsgemäßen Assistenzsystem Verkehrs- und Fahrzeugdaten aus den nachfolgend aufgelisteten Quellen verarbeitet -. GPS-Navigationsyste , Floating Car Data, Extended Floating Car Data und Digitale Straßenkarte.Route and vehicle data from the sources listed below are processed by the assistance system according to the invention. GPS navigation system, floating car data, extended floating car data and digital road map.
Die erfindungsgemäße Lösung ermöglicht ein vorteilhaftes Fahr- erhalten und eine vorteilhafte Fahrstrategie und ermöglicht damit eine Optimierung der Verkehrsicherheit, des Fahrkomforts und der Ressourcenschonung.The solution according to the invention enables advantageous driving preservation and an advantageous driving strategy and thus enables optimization of traffic safety, driving comfort and the conservation of resources.
Nachstehend wird ein Ausführungsbeispiel der Erfindung näher beschrieben.An exemplary embodiment of the invention is described in more detail below.
Der Fahrer meldet mit einem Mobiltelefon bei einer Verkehrs- zentrale, dass er gerne seine Fahrstrategie auf dem Weg von einem Ort A nach einem Ort B auf die Verkehrs- und Strecken- hältnisse abstimmen möchte. Alternativ dazu kann diese Meldung auch mit beliebig anderen, geeigneten Sendemitteln über Funk erfolgen.The driver uses a mobile phone to report to a traffic control center that he would like to adapt his driving strategy on the way from location A to location B to the traffic and route conditions. Alternatively, this message can also with any other suitable transmitter via radio.
Die Verkehrszentrale ermittelt alle relevanten Daten der vor dem Fahrer liegenden Streckenabschnitte. Dazu zählen Daten über die Streckenführung, die Positionen und Fahrmerkmale aller in Fahrtrichtung fahrenden fremden Fahrzeuge und des anrufenden Fahrzeuges. Zur Datenermittlung werden bekannte Erfassungssysteme, wie GPS-Satelliten-Navigationssysterrte, FCD- und X- FCD-Systeme sowie digitale Straßenkarten eingesetzt. Mit den FCD-Systemen (Floating Car Data) werden Verkehrsflußdaten erfasst. Mit den X-FCD-Systemen (Extended Floating Car Data) werden diverse andere Betriebszustände der Fahrzeuge erfasst, die zusätzlich Auskunft über Fahrzeugtypen und das Verkehrs- verhalten der Fahrzeuge geben können, wie z.B. Blinkerbetätigungen, Abstände, Beschleunigungs-und Bremsverhalten, individuelle und kollektive Bewegungszustände, etc..The traffic control center determines all relevant data for the route sections in front of the driver. This includes data on the route, the positions and driving characteristics of all other vehicles traveling in the direction of travel and the calling vehicle. Known acquisition systems, such as GPS satellite navigation systems, FCD and X-FCD systems and digital road maps, are used to determine the data. Traffic flow data is recorded with the FCD systems (Floating Car Data). The X-FCD systems (Extended Floating Car Data) record various other operating states of the vehicles, which can also provide information about vehicle types and the traffic behavior of the vehicles, such as Turn signal actuation, distances, acceleration and braking behavior, individual and collective movement states, etc.
Diese Daten werden in der Verkehrszentrale rechnerunterstützt analysiert und es wird aus dieser Analyse eine der Verkehrsund Streckensituation gerecht werdende, optimale Fahrstrategie für das anrufende Fahrzeug abgeleitet. Die ermittelte Fahrstrategie enthält im wesentlichen Empfehlungen zur einzuhaltenden Geschwindigkeit, Beschleunigung, Abstand zum Vordermann und zur Spurwahl [ • • -This data is analyzed with computer support in the traffic control center and an optimal driving strategy for the calling vehicle is derived from this analysis that takes the traffic and route situation into account. The determined driving strategy essentially contains recommendations for the speed, acceleration, distance to the vehicle in front and the choice of lane [• • -
Die Empfehlungen für eine optimale Geschwindigkeit sind darauf ausgerichtet, auf möglichst unnötige Beschleunigungs- und Bremsvorgänge zu verzichten und dennoch bei der aktuellen Verkehrssituation das Ziel schnellstmöglich, sicher und stressfrei erreichen zu können. Es hat sich erwiesen, dass kurzfristige Geschwindigkeitsspitzen ab einer bestimmten Verkehrsdichte keinen oder nur einen geringen Zeitgewinn einbringen. Sie bedeuten aber mit ständigen Beschleunigungs- und Bremsvorgängen eine erhöhte Fahrerbelastung, verminderte Sicherheit, vermindertes Komfortniveau und einen erhöhten Benzinverbrauch. Die so ermittelten Werte zur Fahrstrategie werden von der Verkehrszentrale als Empfehlungen auf ein Display des anrufenden Fahrzeuges gesendet und/oder ihm akustisch mit einem Lautsprecher übermittel .The recommendations for an optimal speed are aimed at avoiding unnecessary acceleration and braking processes and still being able to reach the destination as quickly, safely and stress-free as possible in the current traffic situation. It has been shown that short-term speed peaks bring little or no time gain from a certain traffic density. However, with constant acceleration and braking, they mean increased driver stress, reduced safety, reduced level of comfort and increased petrol consumption. The values determined for the driving strategy in this way are sent by the traffic control center as recommendations on a display of the calling vehicle and / or transmitted to it acoustically with a loudspeaker.
Zum Beispiel kann aus der von Verkehrszentrale erfassten Situation, dass voraus LKWs mit Blinkerbetätigung fahren dem Fahrer die Empfehlung signalisiert werden, auf Beschleuni- gungsmaßnah en zu verzichten und gegebenenfalls die eigene Geschwindigkeit zu reduzieren.For example, from the situation recorded by the traffic control center that trucks with turn signal actuation are driving ahead, the driver can be advised to do without acceleration measures and, if necessary, to reduce his own speed.
Alternativ dazu können auf Wunsch des anrufenden Fahrers auch gesendete Steuersignale der Verkehrszentrale direkt in fahrzeuginterne Kontrollsysteme eingreifen, wie z.B. in einen Tempomat oder in ein automatisches Abstandhaltungssystem, um die optimale Fahrstrategie automatisch ohne eine Mitwirkung des Fahrers auszuführen. \Alternatively, at the request of the calling driver, control signals sent by the traffic control center can also intervene directly in vehicle-internal control systems, e.g. into a cruise control or into an automatic spacing system in order to automatically execute the optimal driving strategy without the driver's involvement. \
Anstelle der Verkehrszentrale kann auch über Funk in dem Fahrzeug des Systemnutzers eine direkte Erfassung der Daten der vorausfahrenden Fahrzeugen mit dem Bordrechner erfolgen und der Bordrechner kann unter Berücksichtigung des per GPS ermittelten Standortes und einer im Bordrechner abgespeicherten digitalen Straßenkarte die optimale Fahrstrategie ermitteln und auf einem Display und/oder Lautsprecher ausgeben, oder in die fahrzeugin- tεrnen Kontrollsysteme eingreifen. Instead of the traffic control center, the data of the vehicles in front can also be recorded directly by radio in the vehicle of the system user using the on-board computer, and the on-board computer can determine the optimal driving strategy, taking into account the location determined by GPS and a digital road map stored in the on-board computer, and on a display and / or output loudspeakers, or intervene in the vehicle's internal control systems.

Claims

Patentansprüche claims
1. Fahrerunterstützendes Assistenzsystem unter Einbeziehung von GPS-Daten zur Ermittlung des aktuellen Fahrzeugortes und digitalen Straßenkarten zur Erfassung der örtlichen Straßenführung und einer Ausgabe von rechnerunterstützt ermittelten Fahrempfehlungen an den aufrufenden Systemnutzer, dadurch gekennzeichnet, dass zur Berechnung der Fahrempfehlungen FCD-Daten und X-FCD-Daten zur Erfassung der eigenen Fahrsituation und der vorausliegenden Verkehrssituation berücksichtigt werden.1. Driver assistance system, including GPS data to determine the current vehicle location and digital road maps to record the local road layout and output computer-aided driving recommendations to the calling system user, characterized in that FCD data and X-FCD are used to calculate the driving recommendations -Data for recording your own driving situation and the traffic situation ahead are taken into account.
2. Assistenzsystem nach Patentanspruch 1, dadurch gekennzeichnet, dass die Fahrempfehlungen Hinweise zu einer auf die Verkehrssituation und Streckenführung angepasstεn optimalen Geschwindigkεit, Beschleunigungsausführung, Abstandshaltung zum Vordermann und Spurwahl enthalten können.2. Assistance system according to claim 1, characterized in that the driving recommendations can contain information on an optimal speed adapted to the traffic situation and route, execution of acceleration, keeping a distance from the vehicle in front and choosing a lane.
3. Assistenzsystem nach Patentanspruch 1 oder 2 , dadurch gekennzeichnet, dass die Fahrempfehlungen auf Wunsch des Fahrers in Steuerbefehle umgeformt sind, die direkt in fahrzeuginterne KontrollSysteme, wie z.B. einem Tempomat oder einem Abstandhaltungssystem, eingreifen.3. Assistance system according to claim 1 or 2, characterized in that the driving recommendations are converted into control commands at the driver's request, which are directly incorporated into vehicle-internal control systems, such as e.g. a cruise control or a spacing system.
4. Assistenzsystem nach einem der Patentansprüche 1 bis 3, dadurch gekennzeichnet, dass die rechnerunterstütztε Ermittlung der Fahrempfehlungen nach einεm Anruf dεs Systεmnutzers in einer Verkehrszentrale erfolgt und dass die ermittelten Fahrempfehlungen, ggf. die Steuerbefehle, über Funk an den Systemnutzer übermittelt werdεn.4. Assistance system according to one of the claims 1 to 3, characterized in that the computer-aided determination of the driving recommendations takes place after a call by the system user in a traffic control center and that the determined driving recommendations, possibly the control commands, are transmitted to the system user by radio.
5. Assistεnzsystem nach einεm der Patentansprüche 1 bis 3 , dadurch gekennzeichnεt, dass die Erfassung sämtlicher Daten und die Ermittlung der Fahrempfehlungen auf einem Bordrechner des Systemnutzεrs εrfolgen. 5. Assistεnzsystem according to one of claims 1 to 3, characterized in that the acquisition of all data and the determination of the driving recommendations are carried out on an on-board computer of the system user.
PCT/EP2001/006184 2000-06-16 2001-05-31 Driver-assistance system WO2001097196A1 (en)

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