WO2005001792A1 - Device and method for reducing the risk of injury of passengers in the event of an accident - Google Patents

Device and method for reducing the risk of injury of passengers in the event of an accident Download PDF

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Publication number
WO2005001792A1
WO2005001792A1 PCT/DE2004/001356 DE2004001356W WO2005001792A1 WO 2005001792 A1 WO2005001792 A1 WO 2005001792A1 DE 2004001356 W DE2004001356 W DE 2004001356W WO 2005001792 A1 WO2005001792 A1 WO 2005001792A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
collision
movement
area
unavoidable
Prior art date
Application number
PCT/DE2004/001356
Other languages
German (de)
French (fr)
Inventor
Dirk Meister
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2005001792A1 publication Critical patent/WO2005001792A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9318—Controlling the steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

Definitions

  • the present invention relates to a device and an associated method for reducing the risk of injury to vehicle occupants in an accident, in which an object detection device is provided which detects whether there is another
  • Vehicle moves transversely to the direction of movement of the own vehicle, as well as an evaluation device which detects whether a collision of the own vehicle with the other vehicle is unavoidable and, in the presence of both conditions, controls color direction change devices in such a way that the unavoidable collision occurs in an area of the further vehicle, so that the danger to the occupants of both vehicles is minimized.
  • DE 10231 584 describes a method and a device for automatic operation
  • Triggering a deceleration of a vehicle to prevent a collision is known, in that a variable which represents a probability of collision with another vehicle must exceed a predefinable threshold value and the threshold value can be changed depending on the driver's reaction to the current driving situation or the surrounding situation.
  • the essence of the present invention is to provide a device and a method with which, in the event of an unavoidable collision of one's own vehicle with another, which moves transversely to the direction of movement of one's own vehicle
  • an object detection device is provided, which as
  • Image acquisition and image processing system as a radar system, as a lidar system or as a combination thereof.
  • it can advantageously be implemented with an image acquisition and image processing system.
  • the detection of the transverse direction of movement of the further vehicle in relation to the own vehicle is carried out by the object detection device on the basis of a detection of characteristic vehicle patterns.
  • characteristic vehicle patterns are, for example, the vehicle wheels or the characteristic shapes of the fenders of the vehicle or which are mostly in the
  • the determination of the unavoidability of a collision is advantageously determined by the size of the distance between the two vehicles, the speeds of the two vehicles and the directions of movement of the vehicles. These variables can advantageously be detected by the object detection devices, in particular if radar or lidar sensors are provided, which can deliver precise measurement variables for distances, azimuth angles, accelerations and directions of movement.
  • the direction change devices are in the form of an electrically controllable or hydraulically controllable steering system and / or an electrically controllable or hydraulically controllable deceleration device for the targeted braking of one or more individual wheels of one's own vehicle.
  • This makes it possible, using electrical control signals, to determine the direction of travel of one's own vehicle in the last moments before the collision to change according to the invention.
  • electric power steering systems or steer-by-wire systems which are increasingly being used in motor vehicles, enable an electrically controlled steering lock of the steerable vehicle wheels.
  • Anti-lock braking systems are also used, with which it is possible to brake individual vehicle wheels or to brake several vehicle wheels in a targeted manner so that a change in direction of travel is made possible by different deceleration effects on the individual vehicle wheels or a change in direction of travel is supported in conjunction with a steering lock of steerable wheels.
  • the desired impact area of the further vehicle, on which the own vehicle is intended to impact is the lateral front area or the lateral rear area of the further vehicle.
  • a collision in the vehicle areas described only minimally endangers the occupants of the further vehicle, since instead of a collision with the passenger cell of the further vehicle, a collision with the engine area or the trunk area of the further vehicle is specifically carried out.
  • the desired impact area of the further vehicle is the vehicle parts that do not form the passenger compartment.
  • the impact in the areas of the vehicle doors of the other vehicle is to be prevented in this way, since in a collision with vehicle parts which form the passenger compartment, the vehicle occupants of the other vehicle are exposed to a particularly high risk of injury.
  • Object recognition device was recognized as a truck, the desired impact area of the other vehicle is selected so that the truck is not driven under.
  • the device does not change the direction of travel if it is determined that the driver intervenes in the driving situation in good time.
  • violent steering movements or strong deceleration requirements on the part of the driver suggest that the driver is aware of the danger of the situation at hand and that his targeted activity prevents him from automatically intervening in the direction of vehicle movement wishes.
  • An automatic intervention is carried out according to the invention only if the driver does not react to the impending situation, for example due to a cosmic second that is too long or due to inattentiveness. This enables the driver to override an automatic safety function even in critical situations.
  • the feature comprises that the further vehicle moves transversely to the direction of movement of the own vehicle, in particular the object constellation, that the further vehicle moves approximately perpendicular to the direction of movement of the own vehicle.
  • the feature comprises that the further vehicle moves transversely to the direction of movement of the own vehicle, in particular the object constellation, that the further vehicle moves approximately perpendicular to the direction of movement of the own vehicle.
  • the feature that the other vehicle moves transversely to the direction of movement of the own vehicle includes angles that deviate greatly from the vertical to almost parallel or opposite (antiparallel) directions of movement of the own and the other vehicle.
  • transverse can also be used to mean the following
  • Vehicle then moves transversely to the direction of movement of the own vehicle if there is a common intersection of the expected movement trajectories of the two vehicles.
  • control element which is provided for a control device of an adaptive distance or speed control of a motor vehicle.
  • a program is stored on the control element, which is executable on a computing device, in particular on a microprocessor or signal processor, and is suitable for executing the method according to the invention.
  • the invention is thus implemented by a program stored on the control element, so that this control element provided with the program represents the invention in the same way as the method, for the execution of which the program is suitable.
  • an electrical storage medium for example a read-only memory, can be used as the control element.
  • FIG. 1 shows a characteristic driving situation which is recognized by the device according to the invention and in which the method according to the invention is used
  • FIG. 2 shows a schematic block diagram of an embodiment of the device according to the invention
  • FIG. 3 shows a flow chart of an embodiment of the method according to the invention.
  • FIG. 1 shows a characteristic traffic situation which is recognized by the device according to the invention and for using the device according to the invention
  • a crossing can be seen, towards which one's own vehicle 1 and another vehicle 2 are moving.
  • the own vehicle 1 moves towards the intersection area at the speed VI, and the other vehicle 2 also moves towards the intersection area at the speed V2.
  • the further vehicle 2 moves transversely to the direction of movement of the vehicle
  • the vehicle 1 is equipped with an object detection device 3, which has a detection area 4 that is large enough to detect vehicles traveling transversely to the direction of movement, such as the other vehicle 2, in good time.
  • the object detection device 3 consists of several sensors that use different sensors
  • Measuring method record the detection area 4.
  • the use of an image acquisition and image processing system and the use of a radar or lidar system make it possible to recognize image patterns as well as to measure distances and speeds precisely.
  • the sensor systems can be attached to any points of the own vehicle 1, for example a video camera in the Area of the inside mirror on the windscreen or a radar sensor in the area of the front bumper.
  • Other combinations of environment sensors or other installation locations than those described are conceivable and left to the expert ability.
  • FIG. 2 shows a schematic block diagram of an embodiment of the device according to the invention.
  • An evaluation device 5 can be seen which, among other things, has an input circuit 6. Input signals are fed to the evaluation device 5 via the input circuit 6. An input signal is generated by an object detection device 3, which advantageously as
  • Image acquisition and image processing device can be executed.
  • This object detection device which is designed as a camera, for example, can detect and evaluate object patterns in the detection area 4 and pass these signals on to the evaluation device 5.
  • a further environment detection sensor system is also possible, which can be designed, for example, as a radar system or lidar system.
  • this additional environment detection sensor system has the same detection area 4 as the object detection device 3.
  • the output signals of the additional environment detection sensor system 7, which include, for example, measured values relating to the distance, speed and / or directions of movement of detected objects, are likewise fed to the evaluation device 5.
  • As further input variables can be
  • Signals of a steering angle sensor 8 and / or a brake pedal sensor 9 can be provided.
  • the steering angle sensor 8 and the brake pedal sensor 9 it is possible to detect a timely driver action and possibly prevent an automatic intervention in the movement direction change devices if the driver signals by appropriate steering movement and / or brake pedal actuation that he is aware of the situation and appropriate measures grasps.
  • the vehicle 5 can be supplied with movement values such as the vehicle speed VI or other movement values of its own vehicle 1. ESP).
  • the input signals, which are fed to the evaluation device 5 by means of the input circuit 6, are forwarded to a calculation device 11 via a data exchange device 12.
  • this computing device 11 it is calculated from the input variables supplied whether a inevitable collision of the own vehicle 1 with another vehicle 2 is imminent, and calculates whether the other vehicle 2 is moving approximately transversely to the own vehicle 1.
  • the vehicle movements are calculated in advance taking into account the still possible steering movements and it is determined whether a possible collision due to braking or steering or a combination thereof can be avoided. If there is no combination of movement trajectories of one's own vehicle 1 and of the further vehicle 2, which could prevent a collision, it is concluded that a collision of the two vehicles is inevitable.
  • the search for characteristic vehicle patterns on the further vehicle 2 can also be used to determine whether this vehicle is transverse to the direction of movement of its own
  • Vehicle 1 moves.
  • the vehicle wheels can be used, for example, as the image pattern, the vehicle side windows can be used or the desired collision areas, namely the fenders in the front vehicle side area and in the rear vehicle side area, can be recognized by means of image processing.
  • the computing device 11 can also be used to calculate in advance by means of which steering movements or deceleration effects on one or more wheels or combinations between steering and braking enable a collision with the desired collision area of the further vehicle 2. Here it must be calculated which collision points can be reached at all and by which interventions in changing the direction of movement these realizable points can be controlled.
  • the control signals determined by the method according to the invention are passed on by the calculation device 11 via the data exchange device 12 to an output circuit 13 which outputs the signals to the corresponding control devices.
  • This steering system can be, for example, an electrically operated power steering, or an electrically controlled steer-by-wire steering.
  • This steering control signal can, for example, control the steerable wheels of the vehicle in such a way that a collision of the own vehicle 1 with the other vehicle 2 takes place at the desired collision point calculated in advance. It can also be provided that an output signal is applied to a
  • Output engine control unit 15 which switches off the controlled internal combustion engine before the collision, lowers the engine speed or stops the fuel delivery, so that in the upcoming collision there is no additional danger from leaking fuel or the collision is intensified by an engine running under load. It can also be provided a Output signal to restraint devices 16. These return devices can be, for example, airbags or belt tensioners, which protect the vehicle occupants in the event of a collision. These restraint systems can be put into preparatory states before the collision by partially or completely tightening the belt tensioner, preparing the airbag for ignition or partially igniting ignitable airbags.
  • an output signal is output to a brake control device 17 which, depending on the desired deceleration and / or change in the direction of movement, controls the decelerating devices of the individual vehicle wheels 18 in accordance with the calculated, requested deceleration level. It can be provided here that only individual wheels or several of the wheels are decelerated or the further direction of movement of one's own vehicle 1 is influenced by partially activating the vehicle deceleration devices 18. Modern vehicles have anti-lock devices that can monitor and control the speed and the deceleration effect of each individual wheel, so that brake control of individual or several wheels can be carried out in a targeted manner.
  • FIG. 3 shows a flow chart which shows an embodiment of the method according to the invention.
  • the evaluation device 5 checks whether a vehicle is in the detection area 4
  • step 19 branches to “no” and after a predetermined waiting time step 19 is run through in order to be able to detect the presence of a transverse vehicle. If such a further vehicle 2 is recognized according to step 19, this branches Diagram after, yes "and it is determined in step 20 by the calculation device 11 whether a collision of the own vehicle 1 with the other vehicle 2 is inevitable. On the basis of the quantities supplied to the evaluation device 5, in particular from the speeds VI and V2 of the two vehicles, their distance from one another and their directions of movement to one another can be taken into account
  • Acceleration options, deceleration options and steering interventions are determined whether vehicle trajectories exist by means of which a collision can be avoided. If there are no vehicle trajectories with which a collision could be avoided, it is decided that an inevitable collision is imminent. In this case, the diagram branches to "Yes" to step 21.
  • Exist Movement trajectories for the two vehicles 1 and 2, which still allow the two vehicles to evade the flowchart 20 branches to “no” and after waiting for a predetermined waiting time, step 19 is run through again Vehicle wheels or the side windows are calculated by means of which steering control or wheel decelerations the desired collision areas of the further vehicle 2 can be reached.
  • step 22 If several collision areas of the vehicle 2 can be reached, for example the front side area and the rear side area, then the one that is most safely accessible or the one for After the determination of which steering interventions and / or decelerations are necessary in order to reach the selected collision areas, it is checked in step 22 whether the driver already responded appropriately. For this purpose, a steering angle sensor 8 and a brake pedal sensor 9 can be observed, which can detect possible and timely driver interventions. If an adequate driver reaction is determined, step 22 branches to "yes" and after waiting for a predetermined waiting time, step 19 is carried out again. If no timely driver action is detected in step 22 by not exceeding threshold values for the steering angle or the brake pedal actuation, the flowchart branches out after "no" and step 23 is carried out in which the steering movements and / or calculated by the evaluation device 5 in step 21
  • Deceleration effects on individual or more vehicle wheels are implemented by the electrically controllable steering 14 and / or the brake controls 17.
  • the electrically controllable steering 14 and / or the brake controls 17 are implemented by the electrically controllable steering 14 and / or the brake controls 17.
  • output signals are provided for an engine control device 15 and / or restraint control systems 16, the measures of engine throttling described in FIG.
  • Brake machine shutdown or fuel delivery shutdown as well as preparation of restraint devices such as belt tensioners or airbags are carried out in step 21 and a targeted collision of the own vehicle 1 with a vehicle area of the further vehicle 2 is brought about, in which the risk of injury to the occupants of the further vehicle 2 was minimized.

Abstract

The invention relates to a device and an associated method for reducing the risk of injury of passengers in the event of an accident. Said device comprises an object recognition device which recognises whether another vehicle moves in a transversal manner in the direction of movement of said vehicle and an evaluation device which recognises whether a collision of said vehicle with the other vehicle is unavoidable. If both conditions are present, devices changing the direction of travel are controlled in such a manner that said unavoidable collision takes place in the region of the other vehicle in order to minimise danger to the passengers in both vehicles is minimised.

Description

Vorrichtung und Verfahren zur Verringerung des Verletzungsrisikos vonDevice and method for reducing the risk of injury from
Fahrzeuginsassen bei einem UnfallVehicle occupants in an accident
Die vorliegende Erfindung betrifft eine Vorrichtung und ein zugehöriges Verfahren zur Verringerung des Verletzungsrisikos von Fahrzeuginsassen bei einem Unfall, bei dem eine Objekterkennungseinrichtung vorgesehen ist, die erkennt, ob sich ein weiteresThe present invention relates to a device and an associated method for reducing the risk of injury to vehicle occupants in an accident, in which an object detection device is provided which detects whether there is another
Fahrzeug quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegt, sowie eine Auswerteeinrichtung die erkennt, ob eine Kollision des eigenen Fahrzeugs mit dem weiteren Fahrzeug unvermeidbar ist und bei Vorliegen beider Bedingungen Farirtrichtungsänderungseinrichtungen derart ansteuert, dass die unvermeidbare Kollision in einem Bereich des weiteren Fahrzeugs erfolgt, so dass die Gefährdung für die Insassen beider Fahrzeuge minimiert wird.Vehicle moves transversely to the direction of movement of the own vehicle, as well as an evaluation device which detects whether a collision of the own vehicle with the other vehicle is unavoidable and, in the presence of both conditions, controls color direction change devices in such a way that the unavoidable collision occurs in an area of the further vehicle, so that the danger to the occupants of both vehicles is minimized.
Stand der TechnikState of the art
Aus der DE 10231 584 ist ein Verfahren und eine Vorrichtung zum selbsttätigenDE 10231 584 describes a method and a device for automatic operation
Auslösen einer Verzögerung eines Fahrzeugs zur Verhinderung eines Zusammenstosses bekannt, indem eine Größe, die eine Kollisionswahrscheinlichkeit mit einem weiteren Falirzeug repräsentiert, einen vorgebbaren Schwellenwert überschreiten muss und wobei der Schwellenwert in Abhängigkeit von der Fahrerreaktion der aktuellen Fahrsituation oder der Umfeldsituation veränderbar ist. Kern und Vorteile der ErfindungTriggering a deceleration of a vehicle to prevent a collision is known, in that a variable which represents a probability of collision with another vehicle must exceed a predefinable threshold value and the threshold value can be changed depending on the driver's reaction to the current driving situation or the surrounding situation. Core and advantages of the invention
Der Kern der vorliegenden Erfindung ist es, eine Vorrichtung und ein Verfahren anzugeben, mit dem bei einer unvermeidbaren Kollision des eigenen Fahrzeugs mit einem, sich quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegenden, weiterenThe essence of the present invention is to provide a device and a method with which, in the event of an unavoidable collision of one's own vehicle with another, which moves transversely to the direction of movement of one's own vehicle
Fahrzeug, die Gefährdung der Insassen minimiert wird. Erfindungsgemäß wird dieses durch die Merkmale der unabhängigen Ansprüche gelöst. Vorteilhafte Weiterbildungen und Ausgestaltungen ergeben sich aus den Unteransprüchen.Vehicle that minimizes hazard to the occupants. According to the invention, this is solved by the features of the independent claims. Advantageous further developments and refinements result from the subclaims.
Hierbei ist es vorteilhaft, dass eine Objekterkennungseinrichtung vorgesehen ist, die alsIt is advantageous here that an object detection device is provided, which as
Bilderfassungs- und Bildverarbeitungssystem, als Radarsystem, als Lidarsystem oder als eine Kombination hieraus ausgeführt ist. Insbesondere zur Erfassung, dass sich das weitere Fahrzeug quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegt, ist vorteilhafter Weise mit einem Bilderfassungs- und Bildverarbeitungssystem realisierbar.Image acquisition and image processing system, as a radar system, as a lidar system or as a combination thereof. In particular for detecting that the further vehicle is moving transversely to the direction of movement of the own vehicle, it can advantageously be implemented with an image acquisition and image processing system.
Weiterhin ist es vorteilhaft, dass die Erkennung der quergerichteten Bewegungsrichtung des weiteren Fahrzeugs in Bezug auf das eigene Fahrzeug durch die Objekterkennungseinrichtung anhand einer Erkennung charakteristischer Fahrzeugmuster erfolgt. Diese charakteristischen Fahrzeugmuster sind beispielsweise die Fahrzeugräder oder die charakteristischen Formen der Kotflügel des Fahrzeugs oder die sich meist in derFurthermore, it is advantageous that the detection of the transverse direction of movement of the further vehicle in relation to the own vehicle is carried out by the object detection device on the basis of a detection of characteristic vehicle patterns. These characteristic vehicle patterns are, for example, the vehicle wheels or the characteristic shapes of the fenders of the vehicle or which are mostly in the
Farbe der Karosserie abhebenden Seitenscheiben.Color of the body-lifting side windows.
Vorteilhafterweise wird die Feststellung der Unvermeidbarkeit einer Kollision durch die Größen Abstand der beiden Fahrzeuge, Geschwindigkeiten der beiden Fahrzeuge sowie Bewegungsrichtungen der Fahrzeuge festgestellt. Diese Größen sind vorteilhafter Weise durch die Objekterkennungseinrichtungen erfassbar, insbesondere bei Vorsehen von Radar- oder Lidarsensoren, die genaue Messgrößen für Abstände, Azimutwinkel, Beschleunigungen und Bewegungsrichtungen liefern können.The determination of the unavoidability of a collision is advantageously determined by the size of the distance between the two vehicles, the speeds of the two vehicles and the directions of movement of the vehicles. These variables can advantageously be detected by the object detection devices, in particular if radar or lidar sensors are provided, which can deliver precise measurement variables for distances, azimuth angles, accelerations and directions of movement.
Weiterhin ist es vorteilhaft, dass Fahrtrichtungsänderungseinrichtungen in Form einer elektrisch ansteuerbaren oder hydraulisch ansteuerbaren Lenkung und/oder einer elektrisch steuerbaren oder hydraulisch ansteuerbaren Verzögerungseinrichtung zum gezielten Abbremsen eines einzelnen oder mehrerer einzelner Räder des eigenen Fahrzeugs sind. Hierdurch ist es möglich, mittels elektrischer Stellsignale die Fahrtrichtung des eigenen Fahrzeugs in den letzten Augenblicken vor der Kollision erfindungsgemäß zu ändern. Insbesondere elektrische Servolenkungen oder Steer-by- Wire-Systeme, die vermehrt in Kraftfahrzeugen eingesetzt werden, ermöglichen einen elektrisch gesteuerten Lenkeinschlag der lenkbaren Fahrzeugräder. Ebenso sind Antiblockiersysteme im Einsatz, mit denen es möglich ist, einzelne Fahrzeugräder abzubremsen oder mehrere Fahrzeugräder so gezielt abzubremsen, dass durch unterschiedliche Verzögerungswirkungen an den einzelnen Fahrzeugrädern eine Fahrrichtungsänderung ermöglicht wird oder eine Fahrtrichtungsänderung in Verbindung mit einem Lenkeinschlag lenkbarer Räder unterstützt wird.It is also advantageous that the direction change devices are in the form of an electrically controllable or hydraulically controllable steering system and / or an electrically controllable or hydraulically controllable deceleration device for the targeted braking of one or more individual wheels of one's own vehicle. This makes it possible, using electrical control signals, to determine the direction of travel of one's own vehicle in the last moments before the collision to change according to the invention. In particular, electric power steering systems or steer-by-wire systems, which are increasingly being used in motor vehicles, enable an electrically controlled steering lock of the steerable vehicle wheels. Anti-lock braking systems are also used, with which it is possible to brake individual vehicle wheels or to brake several vehicle wheels in a targeted manner so that a change in direction of travel is made possible by different deceleration effects on the individual vehicle wheels or a change in direction of travel is supported in conjunction with a steering lock of steerable wheels.
Vorteilhafterweise ist der gewünschte Aufprallbereich des weiteren Fahrzeugs, auf den das eigene Fahrzeug gezielt aufprallen soll, der seitliche Frontbereich oder der seitliche Heckbereich des weiteren Fahrzeugs. Durch ein Aufprallen in den beschriebenen Fahrzeugbereichen werden die Insassen des weiteren Fahrzeugs nur minimal gefährdet, da anstatt einer Kollision mit der Fahrgastzelle des weiteren Fahrzeugs gezielt eine Kollision mit dem Motorbereich oder dem Kofferraumbereich des weiteren Fahrzeugs durchgeführt wird.Advantageously, the desired impact area of the further vehicle, on which the own vehicle is intended to impact, is the lateral front area or the lateral rear area of the further vehicle. A collision in the vehicle areas described only minimally endangers the occupants of the further vehicle, since instead of a collision with the passenger cell of the further vehicle, a collision with the engine area or the trunk area of the further vehicle is specifically carried out.
Weiterhin ist es vorteilhaft, dass der gewünschte Aufprallbereich des weiteren Fahrzeugs die Fahrzeugteile sind, die nicht die Fahrgastzelle bilden. Insbesondere der Aufprall in Bereichen der Fahrzeugtüren des weiteren Fahrzeugs soll hierdurch verhindert werden, da bei einer Kollision mit Fahrzeugteilen, die die Fahrgastzelle bilden, die Fahrzeuginsassen des weiteren Fahrzeugs in besonders starkem Maß einem Verletzungsrisiko ausgesetzt werden.It is also advantageous that the desired impact area of the further vehicle is the vehicle parts that do not form the passenger compartment. In particular, the impact in the areas of the vehicle doors of the other vehicle is to be prevented in this way, since in a collision with vehicle parts which form the passenger compartment, the vehicle occupants of the other vehicle are exposed to a particularly high risk of injury.
Weiterhin ist es vorteilhaft, dass wenn das weitere Fahrzeug mittels derIt is also advantageous that if the further vehicle by means of the
Objekterkennungseinrichtung als Lastkraftwagen erkannt wurde, der gewünschte Aufprallbereich des weiteren Fahrzeugs so gewählt wird, dass ein Unterfahren des Lastkraftwagens vermieden wird.Object recognition device was recognized as a truck, the desired impact area of the other vehicle is selected so that the truck is not driven under.
Weiterhin ist es vorteilhaft, dass eine Ansteuerung derIt is also advantageous that a control of the
Falirtrichtungsänderungseinrichtungen unterbleibt, wenn festgestellt wird, dass der Fahrer rechtzeitig in das Fahrgeschehen eingreift. Insbesondere heftige Lenkbewegungen oder starke Verzögerungsanforderungen des Fahrers lassen darauf schließen, dass sich der Fahrer über die Gefahr der vorliegenden Situation im Klaren ist und er durch seine gezielte Aktivität ein automatisches Eingreifen in die Fahrzeugbewegungsrichtung nicht wünscht. Lediglich, wenn der Fahrer, beispielsweise durch eine zu lange Schrecksekunde oder durch Unaufmerksamkeit nicht auf die bevorstehende Situation reagiert, wird ein automatischer Eingriff erfindungsgemäß durchgeführt. Hierdurch hat der Fahrer auch in kritischen Situationen die Möglichkeit, eine automatische Sicherheitsfunktion zu übersteuern.The device does not change the direction of travel if it is determined that the driver intervenes in the driving situation in good time. In particular, violent steering movements or strong deceleration requirements on the part of the driver suggest that the driver is aware of the danger of the situation at hand and that his targeted activity prevents him from automatically intervening in the direction of vehicle movement wishes. An automatic intervention is carried out according to the invention only if the driver does not react to the impending situation, for example due to a terrifying second that is too long or due to inattentiveness. This enables the driver to override an automatic safety function even in critical situations.
Im Rahmen der vorliegenden Erfindung umfasst das Merkmal, dass sich das weitere Fahrzeug quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegt insbesondere die Objektkonstellation, dass sich das weitere Fahrzeug in etwa senkrecht zur Bewegungsrichtung des eigenen Fahrzeugs bewegt. Jedoch ist es auch im Sinne derIn the context of the present invention, the feature comprises that the further vehicle moves transversely to the direction of movement of the own vehicle, in particular the object constellation, that the further vehicle moves approximately perpendicular to the direction of movement of the own vehicle. However, it is also in the sense of
Erfindung, dass durch das Merkmal, dass sich das weitere Fahrzeug quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegt Winkel eingeschlossen sind, die aus der Senkrechten stark abweichen bis hin zu fast parallelen oder entgegengesetzten (antiparallelen) Bewegungsrichtungen des eigenen und des weiteren Fahrzeugs. So kann der Begriff „quer" beispielsweise auch so verwendet werden, dass sich das weitereInvention that the feature that the other vehicle moves transversely to the direction of movement of the own vehicle includes angles that deviate greatly from the vertical to almost parallel or opposite (antiparallel) directions of movement of the own and the other vehicle. For example, the term "transverse" can also be used to mean the following
Fahrzeug dann quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegt, wenn ein gemeinsamer Schnittpunkt der zu erwartenden Bewegungstrajektorien der beiden Fahrzeuge existiert.Vehicle then moves transversely to the direction of movement of the own vehicle if there is a common intersection of the expected movement trajectories of the two vehicles.
Von besonderer Bedeutung ist die Realisierung des erfindungsgemäßen Verfahrens in derOf particular importance is the implementation of the method according to the invention in the
Form eines Steuerelements, das für ein Steuergerät einer adaptiven Abstands- bzw. Geschwindigkeitsregelung eines Kraftfahrzeugs vorgesehen ist. Dabei ist auf dem Steuerelement ein Programm gespeichert, das auf einem Rechengerät, insbesondere auf einem Mikroprozessor oder Signalprozessor, ablauffähig und zur Ausführung des erfindungsgemäßen Verfahrens geeignet ist. In diesem Fall wird also die Erfindung durch ein auf dem Steuerelement abgespeichertes Programm realisiert, so dass dieses mit dem Programm versehene Steuerelement in gleicher Weise die Erfindung darstellt, wie das Verfahren, zu dessen Ausführung das Programm geeignet ist. Als Steuerelement kann insbesondere ein elektrisches Speichermedium zur Anwendung kommen, beispielsweise ein Read-Only-Memory.Form of a control element which is provided for a control device of an adaptive distance or speed control of a motor vehicle. A program is stored on the control element, which is executable on a computing device, in particular on a microprocessor or signal processor, and is suitable for executing the method according to the invention. In this case, the invention is thus implemented by a program stored on the control element, so that this control element provided with the program represents the invention in the same way as the method, for the execution of which the program is suitable. In particular, an electrical storage medium, for example a read-only memory, can be used as the control element.
Weitere Merkmale, Anwendungsmöglichkeiten und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausfuhrungsbeispielen der Erfindung, die in den Figuren der Zeichnung dargestellt sind. Dabei bilden alle beschriebenen oder dargestellten Merkmale für sich oder in beliebiger Kombination den Gegenstand der Erfindung, unabhängig von ihrer Zusammenfassung in den Patentansprüchen oder deren Rückbeziehung sowie unabhängig von ihrer Formulierung bzw. Darstellung in der Beschreibung bzw. in den Zeichnungen.Further features, possible applications and advantages of the invention result from the following description of exemplary embodiments of the invention, which are shown in the figures of the drawing. All of the features described or illustrated form the subject matter of the invention, individually or in any combination Invention, regardless of their summary in the claims or their relationship and regardless of their wording or representation in the description or in the drawings.
Zeichnungendrawings
Nachfolgend werden Ausführungsbeispiele der Erfindung anhand von Zeichnungen erläutert. Es zeigenExemplary embodiments of the invention are explained below with reference to drawings. Show it
Figur 1 eine charakteristische Fahrsituation, die durch die erfindungsgemäße Vorrichtung erkannt wird und in der das erfindungsgemäße Verfahren benutzt wird, Figur 2 ein schematisches Blockdiagramm einer Ausführungsform der erfmdungsgemäßen Vorrichtung und Figur 3 ein Ablaufdiagramm einer Ausführungsform des erfϊndungsgemäßen Verfahrens.1 shows a characteristic driving situation which is recognized by the device according to the invention and in which the method according to the invention is used, FIG. 2 shows a schematic block diagram of an embodiment of the device according to the invention and FIG. 3 shows a flow chart of an embodiment of the method according to the invention.
Beschreibung von AusführungsbeispielenDescription of exemplary embodiments
In Figur 1 ist eine charakteristische Verkehrssituation dargestellt, die durch die erfindungsgemäße Vorrichtung erkannt und zur Verwendung des erfindungsgemäßenFIG. 1 shows a characteristic traffic situation which is recognized by the device according to the invention and for using the device according to the invention
Verfahrens geeignet ist. Zu erkennen ist eine Straßenkreuzung, auf die sich das eigene Fahrzeug 1 sowie ein weiteres Fahrzeug 2 zubewegen. Das eigene Fahrzeug 1 bewegt sich dabei mit der Geschwindigkeit VI auf den Kreuzungsbereich zu, ebenso bewegt sich auch das weitere Fahrzeug 2 mit der Geschwindigkeit V2 auf den Kreuzungsbereich zu. Dabei bewegt sich das weitere Fahrzeug 2 quer zur Bewegungsrichtung des eignenProcess is suitable. A crossing can be seen, towards which one's own vehicle 1 and another vehicle 2 are moving. The own vehicle 1 moves towards the intersection area at the speed VI, and the other vehicle 2 also moves towards the intersection area at the speed V2. The further vehicle 2 moves transversely to the direction of movement of the vehicle
Fahrzeugs 1. Das eigene Fahrzeug 1 ist hierbei mit einer Objekterkennungseinrichtung 3 ausgerüstet, die einen Erfassungsbereich 4 aufweist, der ausreichend groß ist, um quer zur eigenen Bewegungsrichtung fahrende Fahrzeuge, wie beispielsweise das weitere Fahrzeug 2, rechtzeitig zu detektieren. Vorteilhafterweise besteht die Objektdetektionseinrichtung 3 aus mehreren Sensoren, die mittels unterschiedlichenVehicle 1. In this case, the vehicle 1 is equipped with an object detection device 3, which has a detection area 4 that is large enough to detect vehicles traveling transversely to the direction of movement, such as the other vehicle 2, in good time. Advantageously, the object detection device 3 consists of several sensors that use different sensors
Messverfahren den Erfassungsbereich 4 aufnehmen. Insbesondere die Verwendung eines Bilderfassungs- und Bildverarbeitungssystems sowie die Verwendung eines Radar- oder Lidarsystems ermöglicht es, sowohl Bildmuster zu erkennen als auch Entfernungen und Geschwindigkeiten exakt zu messen. Hierbei können die Sensorsysteme an beliebigen Punkten des eigenen Fahrzeugs 1 befestigt sein, beispielsweise eine Videokamera im Bereich des Innenspiegels an der Frontscheibe oder ein Radarsensor im Bereich der vorderen Stoßstange. Weitere Kombinationen von Umfeldsensoren oder andere Einbauorte als die beschriebenen sind denkbar und dem fachmännischen Können überlassen.Measuring method record the detection area 4. In particular, the use of an image acquisition and image processing system and the use of a radar or lidar system make it possible to recognize image patterns as well as to measure distances and speeds precisely. In this case, the sensor systems can be attached to any points of the own vehicle 1, for example a video camera in the Area of the inside mirror on the windscreen or a radar sensor in the area of the front bumper. Other combinations of environment sensors or other installation locations than those described are conceivable and left to the expert ability.
In Figur 2 ist ein schematisches Blockdiagramm einer Ausführungsform der erfindungsgemäßen Vorrichtung abgebildet. Zu erkennen ist eine Auswerteeinrichtung 5, die unter anderem eine Eingangsschaltung 6 aufweist. Über die Eingangsschaltung 6 werden der Auswerteeinrichtung 5 Eingangssignale zugeführt. Ein Eingangssignal wird von einer Objekterkennungseinrichtung 3 erzeugt, die vorteilhafter Weise alsFIG. 2 shows a schematic block diagram of an embodiment of the device according to the invention. An evaluation device 5 can be seen which, among other things, has an input circuit 6. Input signals are fed to the evaluation device 5 via the input circuit 6. An input signal is generated by an object detection device 3, which advantageously as
Bilderfassungs- und Bildverarbeitungseinrichtung ausgeführt sein kann. Diese, beispielsweise als Kamera ausgeführte Objekterkennungseinrichtung kann Objektmuster im Erfassungsbereich 4 erkennen, auswerten und diese Signale an die Auswerteeinrichtung 5 weiterleiten. Ebenso ist eine weitere Umfelderfassungssensorik möglich, die beispielsweise als Radarsystem oder Lidarsystem ausgeführt sein kann.Image acquisition and image processing device can be executed. This object detection device, which is designed as a camera, for example, can detect and evaluate object patterns in the detection area 4 and pass these signals on to the evaluation device 5. A further environment detection sensor system is also possible, which can be designed, for example, as a radar system or lidar system.
Vorteilhafterweise hat diese zusätzliche Umfelderfassungssensorik den gleichen Erfassungsbereich 4 wie die Objekterkennungseinrichtung 3. Die Ausgangssignale der zusätzlichen Umfelderfassungssensorik 7, die beispielsweise Messwerte über Abstand, Geschwindigkeit und/oder Bewegungsrichtungen erkannter Objekte beinhaltet, werden ebenfalls der Auswerteeinrichtung 5 zugeführt. Als weitere Eingangsgrößen könnenAdvantageously, this additional environment detection sensor system has the same detection area 4 as the object detection device 3. The output signals of the additional environment detection sensor system 7, which include, for example, measured values relating to the distance, speed and / or directions of movement of detected objects, are likewise fed to the evaluation device 5. As further input variables can
Signale eines Lenkwinkelsensors 8 und/oder eines Bremspedalssensors 9 vorgesehen sein. Mittels des Lenkwinkelsensors 8 und des Bremspedalssensors 9 ist es möglich, eine rechtzeitige Fahreraktion zu detektieren und eventuell einen automatischen Eingriff in die Bewegungsrichtungsänderungseinrichtungen zu verhindern, falls der Fahrer durch entsprechende Lenkbewegung und/oder Bremspedalbetätigung signalisiert, dass er sich der Situation bewusst ist und entsprechende Maßnahmen ergreift. Weiterhin können der Auswerteeinrichtung 5 Fahrzeugbewegungsgrößen zugeführt werden, wie beispielsweise die Fahrzeuggeschwindigkeit VI oder andere Bewegungsgrößen des eigenen Fahrzeugs 1. Ebenfalls ist es denkbar, weitere Größen, die zur Erfassung der bevorstehenden Kollisionssituation aufschlussreich sind, der Auswerteeinrichtung 5 zuzuführen, beispielsweise Signale einer elektronischen Fahrdynamikregelung (ESP). Die Eingangssignale, die der Auswerteeinrichtung 5 mittels der Eingangsschaltung 6 zugeführt werden, werden über eine Datenaustauscheinrichtung 12 an eine Berechnungseinrichtung 11 weitergeleitet. In diesem Rechengerät 11 wird gemäß des erfindungsgemäßen Verfahrens aus den zugeführten Eingangsgrößen berechnet, ob eine unausweichbare Kollision des eigenen Fahrzeugs 1 mit einem weiteren Fahrzeug 2 bevorsteht, sowie berechnet, ob das weitere Fahrzeug 2 sich in etwa quer zum eigenen Fahrzeug 1 bewegt. Hierzu werden die Fahrzeugbewegungen unter Berücksichtigung der noch möglichen Lenkbewegungen vorausberechnet und festgestellt, ob eine mögliche Kollision durch Bremsungen oder Lenkungen oder Kombinationen hieraus vermeidbar sind. Existiert keine Kombination aus Bewegungstrajektorien des eigenen Fahrzeugs 1 sowie des weiteren Fahrzeugs 2, durch die eine Kollision verhindert werden könnte, so wird gefolgert, dass eine Kollision der beiden Fahrzeuge unausweichbar ist. Ebenfalls kann durch die Suche von charakteristischen Fahrzeugmustern am weiteren Fahrzeug 2 festgestellt werden, ob sich dieses Fahrzeug quer zur Bewegungsrichtung des eigenenSignals of a steering angle sensor 8 and / or a brake pedal sensor 9 can be provided. By means of the steering angle sensor 8 and the brake pedal sensor 9, it is possible to detect a timely driver action and possibly prevent an automatic intervention in the movement direction change devices if the driver signals by appropriate steering movement and / or brake pedal actuation that he is aware of the situation and appropriate measures grasps. Furthermore, the vehicle 5 can be supplied with movement values such as the vehicle speed VI or other movement values of its own vehicle 1. ESP). The input signals, which are fed to the evaluation device 5 by means of the input circuit 6, are forwarded to a calculation device 11 via a data exchange device 12. In this computing device 11, according to the inventive method, it is calculated from the input variables supplied whether a inevitable collision of the own vehicle 1 with another vehicle 2 is imminent, and calculates whether the other vehicle 2 is moving approximately transversely to the own vehicle 1. For this purpose, the vehicle movements are calculated in advance taking into account the still possible steering movements and it is determined whether a possible collision due to braking or steering or a combination thereof can be avoided. If there is no combination of movement trajectories of one's own vehicle 1 and of the further vehicle 2, which could prevent a collision, it is concluded that a collision of the two vehicles is inevitable. The search for characteristic vehicle patterns on the further vehicle 2 can also be used to determine whether this vehicle is transverse to the direction of movement of its own
Fahrzeugs 1 bewegt. Hierzu können beispielsweise als Bildmuster die Fahrzeugräder verwendet werden, die Fahrzeugseitenscheiben verwendet werden oder direkt die gewünschten Kollisionsbereiche, nämlich die Kotflügel im vorderen Fahrzeugseitenbereich sowie im hinteren Fahrzeugseitenbereich mittels einer Bildverarbeitung erkannt werden. Im Rechengerät 11 kann ebenfalls vorausberechnet werden, durch welche Lenkbewegungen oder Verzögerungswirkungen an einzelnen oder mehreren Rädern oder Kombinationen zwischen Lenken und Bremsen eine Kollision mit dem gewünschten Kollisionsbereich des weiteren Fahrzeugs 2 ermöglicht. Hierbei muss berechnet werden, welche Kollisionspunkte überhaupt erreichbar sind sowie durch welche Bewegungsrichtungsänderungseingriffe diese realisierbaren Punkte ansteuerbar sind. Die durch das erfindungsgemäße Verfahren ermittelten Stellsignale werden von der Berechnungseinrichtung 11 über die Datenaustauscheinrichtung 12 an eine Ausgangsschaltung 13 weitergegeben, die die Signale auf die entsprechenden Stelleinrichtungen ausgibt. So ist es möglich, ein Ausgangssignal an eine elektrisch ansteuerbare oder hydraulisch ansteuerbare Lenkung 14 auszugeben. Dieses Lenksystem kann beispielsweise eine elektrisch betriebene Servolenkung sein, oder eine elektrisch gesteuerte Steer-by-Wire-Lenkung sein. Dieses Lenkungsstellsignal kann beispielsweise die lenkbaren Räder des Fahrzeugs derart steuern, dass eine Kollision des eigenen Fahrzeugs 1 mit dem weiteren Fahrzeug 2 im vorausberechneten, gewünschten Kollisionspunkt erfolgt. Ebenso kann vorgesehen sein, ein Ausgangssignal an einVehicle 1 moves. For this purpose, the vehicle wheels can be used, for example, as the image pattern, the vehicle side windows can be used or the desired collision areas, namely the fenders in the front vehicle side area and in the rear vehicle side area, can be recognized by means of image processing. The computing device 11 can also be used to calculate in advance by means of which steering movements or deceleration effects on one or more wheels or combinations between steering and braking enable a collision with the desired collision area of the further vehicle 2. Here it must be calculated which collision points can be reached at all and by which interventions in changing the direction of movement these realizable points can be controlled. The control signals determined by the method according to the invention are passed on by the calculation device 11 via the data exchange device 12 to an output circuit 13 which outputs the signals to the corresponding control devices. It is thus possible to output an output signal to an electrically controllable or hydraulically controllable steering system 14. This steering system can be, for example, an electrically operated power steering, or an electrically controlled steer-by-wire steering. This steering control signal can, for example, control the steerable wheels of the vehicle in such a way that a collision of the own vehicle 1 with the other vehicle 2 takes place at the desired collision point calculated in advance. It can also be provided that an output signal is applied to a
Motorsteuergerät 15 auszugeben, das die angesteuerte Brennkraftmaschine vor der Kollision abschaltet, die Brermkraftmaschinendrehzahl absenkt oder die Kraftstoffförderung einstellt, so dass bei der bevorstehenden Kollision keine zusätzliche Gefährdung durch auslaufenden Kraftstoff entsteht oder die Kollision durch einen unter Last laufenden Motor verstärkt wird. Ebenso kann es vorgesehen sein, ein Ausgangssignal an Rückhalteeinrichtungen 16 auszugeben. Diese Rücklialteeinrichtungen können beispielsweise Airbags oder Gurtstraffer sein, die im Kollisionsfall die Fahrzeuginsassen schützen. Diese Rückhaltesysteme können schon vor der Kollision in vorbereitende Zustände versetzt werden, in dem der Gurtstraffer bereits teilweise oder vollständig gestrafft wird, der Airbag zur Zündung vorbereitet wird oder stufenweise zündbare Airbags teilgezündet werden. Weiterhin wird ein Ausgangssignal an eine Bremssteuereinrichtung 17 ausgegeben, die je nach Verzögerungswunsch und/oder Bewegungsrichtungsänderungswunsch die Verzögerungseinrichtungen der einzelnen Fahrzeugräder 18 entsprechend der berechneten, angeforderten Verzögerungsstärke ansteuert. Hierbei kann es vorgesehen sein, nur einzelne Räder oder mehrere der Räder zu verzögern oder die weitere Bewegungsrichtung des eigenen Fahrzeugs 1 durch eine teilweise Ansteuerung der Fahrzeugverzögerungseinrichtungen 18 zu beeinflussen. Moderne Fahrzeuge verfügen über Antiblockiereinrichtungen, die die Drehzahl sowie die Verzögerungswirkung eines jeden einzelnen Rades überwachen und steuern können, so dass eine Bremsenansteuerung einzelner oder mehrerer Räder gezielt durchführbar ist.Output engine control unit 15, which switches off the controlled internal combustion engine before the collision, lowers the engine speed or stops the fuel delivery, so that in the upcoming collision there is no additional danger from leaking fuel or the collision is intensified by an engine running under load. It can also be provided a Output signal to restraint devices 16. These return devices can be, for example, airbags or belt tensioners, which protect the vehicle occupants in the event of a collision. These restraint systems can be put into preparatory states before the collision by partially or completely tightening the belt tensioner, preparing the airbag for ignition or partially igniting ignitable airbags. Furthermore, an output signal is output to a brake control device 17 which, depending on the desired deceleration and / or change in the direction of movement, controls the decelerating devices of the individual vehicle wheels 18 in accordance with the calculated, requested deceleration level. It can be provided here that only individual wheels or several of the wheels are decelerated or the further direction of movement of one's own vehicle 1 is influenced by partially activating the vehicle deceleration devices 18. Modern vehicles have anti-lock devices that can monitor and control the speed and the deceleration effect of each individual wheel, so that brake control of individual or several wheels can be carried out in a targeted manner.
In Figur 3 ist ein Ablaufdiagramm dargestellt, das eine Ausführungsform des erfindungsgemäßen Verfahrens aufzeigt. In Schritt 19 wird hierbei durch die Auswerteeimichtung 5 überprüft, ob ein Fahrzeug im Erfassungsbereich 4 derFIG. 3 shows a flow chart which shows an embodiment of the method according to the invention. In step 19, the evaluation device 5 checks whether a vehicle is in the detection area 4
Objekterkennungseinrichtung 3 erkannt wurde, das sich quer zur Bewegungsrichtung des eigenen Fahrzeugs 1 bewegt. Wurde ein derartiges Falirzeug nicht erkannt, so verzweigt Schritt 19 nach „nein" und nach einer vorbestimmten Wartezeit wird Schritt 19 abeπnals durchlaufen, um das Vorliegen eines querfahrenden Fahrzeugs erkennen zu können. Wird ein derartiges weiteres Fahrzeug 2 gemäß Schritt 19 erkannt, so verzweigt das Diagramm nach ,ja" und es wird in Schritt 20 von der Berechnungseinrichtung 11 ermittelt, ob eine Kollision des eigenen Fahrzeugs 1 mit dem weiteren Fahrzeug 2 unausweichbar ist. Anhand der der Auswerteeinrichtung 5 zugeführten Größen, insbesondere aus den Geschwindigkeiten VI und V2 der beiden Fahrzeuge, deren Abstand zueinander sowie deren Bewegungsrichtungen zueinander kann unter Berücksichtigung sämtlicherObject recognition device 3 was recognized, which moves transversely to the direction of movement of the own vehicle 1. If such a vehicle was not recognized, step 19 branches to “no” and after a predetermined waiting time step 19 is run through in order to be able to detect the presence of a transverse vehicle. If such a further vehicle 2 is recognized according to step 19, this branches Diagram after, yes "and it is determined in step 20 by the calculation device 11 whether a collision of the own vehicle 1 with the other vehicle 2 is inevitable. On the basis of the quantities supplied to the evaluation device 5, in particular from the speeds VI and V2 of the two vehicles, their distance from one another and their directions of movement to one another can be taken into account
Beschleunigungsmöglichkeiten, Verzögerungsmöglichkeiten sowie Lenkeingriffe ermittelt werden, ob Fahrzeugtrajektorien existieren, mittels denen eine Kollision vermeidbar ist. Existieren keine Fahrzeugtrajektorien, mit denen eine Kollision vermeidbar wäre, so wird entschieden, dass eine unausweichbare Kollision bevorsteht. In diesem Fall verzweigt das Diagramm nach , ja" zu Schritt 21. Existieren Bewegungstrajektorien für die beiden Fahrzeuge 1 und 2, die ein Ausweichen der beiden Fahrzeuge noch ermöglichen, so verzweigt das Ablaufdiagramm 20 nach „nein" und nach Abwarten einer vorbestimmten Wartezeit wird abermals Schritt 19 durchlaufen. Im Schritt 21 wird anhand erkannter charakteristischer Fahrzeugmuster, beispielsweise der Fahrzeugräder oder der Seitenscheiben berechnet, mittels welcher Lenkungsansteuerung oder Radverzögerungen die gewünschten Kollisionsbereiche des weiteren Fahrzeugs 2 erreichbar sind. Sollten mehrere Kollisipnsbereiche des Fahrzeugs 2 erreichbar sein, beispielsweise vorderer Seitenbereich und hinterer Seitenbereich, so wird derjenige ausgewählt, der am sichersten erreichbar ist oder der für die Fahrzeuginsassen die größte Fahrzeuginsassensicherheit ermöglicht. Nachdem ermittelt wurde, welche Lenkeingriffe und/oder Verzögerungseinwirkungen nötig sind, um die ausgewählte Kollisionsbereiche zu erreichen, wird in Schritt 22 geprüft, ob der Fahrer bereits in geeigneter Weise reagiert. Hierzu können ein Lenkwinkelsensor 8 sowie ein Bremspedalsensor 9 beobachtet werden, die eventuelle und rechtzeitige Fahrereingriffe erkennen können. Wird eine adäquate Fahrerreaktion festgestellt, so verzweigt Schritt 22 nach ,ja" und nach Abwarten einer vorbestimmten Wartezeit wird erneut Schritt 19 durchlaufen. Wird in Schritt 22 keine rechtzeitige Fahreraktion detektiert, indem Schwellenwerte für den Lenkwinkel oder die Bremspedalbetätigung nicht überschritten werden, verzweigt das Ablaufdiagramm nach „nein" und es wird Schritt 23 ausgeführt, in dem die im Schritt 21 von der Auswerteeinrichtung 5 berechneten Lenkbewegungen und/oderAcceleration options, deceleration options and steering interventions are determined whether vehicle trajectories exist by means of which a collision can be avoided. If there are no vehicle trajectories with which a collision could be avoided, it is decided that an inevitable collision is imminent. In this case, the diagram branches to "Yes" to step 21. Exist Movement trajectories for the two vehicles 1 and 2, which still allow the two vehicles to evade, the flowchart 20 branches to “no” and after waiting for a predetermined waiting time, step 19 is run through again Vehicle wheels or the side windows are calculated by means of which steering control or wheel decelerations the desired collision areas of the further vehicle 2 can be reached. If several collision areas of the vehicle 2 can be reached, for example the front side area and the rear side area, then the one that is most safely accessible or the one for After the determination of which steering interventions and / or decelerations are necessary in order to reach the selected collision areas, it is checked in step 22 whether the driver already responded appropriately. For this purpose, a steering angle sensor 8 and a brake pedal sensor 9 can be observed, which can detect possible and timely driver interventions. If an adequate driver reaction is determined, step 22 branches to "yes" and after waiting for a predetermined waiting time, step 19 is carried out again. If no timely driver action is detected in step 22 by not exceeding threshold values for the steering angle or the brake pedal actuation, the flowchart branches out after "no" and step 23 is carried out in which the steering movements and / or calculated by the evaluation device 5 in step 21
Verzögerungswirkungen an einzelnen oder mehreren Fahrzeugrädern durch die elektrisch ansteuerbare Lenkung 14 und/oder die Bremsenansteuerungen 17 umgesetzt werden. Im Falle, dass Ausgangssignale für ein Motorsteuerungsgerät 15 und/oder Rückhaltemittelsteuersysteme 16 vorgesehen sind, so können die in Figur 2 beschriebenen Maßnahmen der Brennkraftmaschinendrosselung,Deceleration effects on individual or more vehicle wheels are implemented by the electrically controllable steering 14 and / or the brake controls 17. In the event that output signals are provided for an engine control device 15 and / or restraint control systems 16, the measures of engine throttling described in FIG.
Brenrilfl-aftmaschinenabschaltung oder Kraftstoffförderabschaltung sowie eine Vorbereitung von Rückhaltemitteln wie Gurtstraffern oder Airbags in Schritt 21 durchgeführt werden und eine gezielte Kollision des eigenen Fahrzeugs 1 mit einem Fahrzeugbereich des weiteren Fahrzeugs 2 herbeigeführt werden, bei der das Verletzungsrisiko der Insassen des weiteren Fahrzeugs 2 minimiert wurde. Brake machine shutdown or fuel delivery shutdown as well as preparation of restraint devices such as belt tensioners or airbags are carried out in step 21 and a targeted collision of the own vehicle 1 with a vehicle area of the further vehicle 2 is brought about, in which the risk of injury to the occupants of the further vehicle 2 was minimized.

Claims

Patentansprüche claims
1. Vorrichtung zur Verringerung des Verletzungsrisikos von Fahrzeuginsassen bei einem Unfall, dadurch gekennzeichnet, dass Objekterkennungseinrichtungen vorgesehen sind, die erkennen ob sich ein weiteres Fahrzeug quer zur Bewegungsrichtung des eigenen Fahrzeugs bewegt, dass eine Auswerteeinrichtung vorgesehen ist, die erkennt, ob eine Kollision des eigenen Fahrzeugs mit dem weiteren Fahrzeug unvermeidbar ist und bei Vorliegen beider Bedingungen Fahrtrichtungsänderungseinrichtungen derart ansteuerbar sind, dass die unvermeidbare Kollision in einem Bereich des weiteren Fahrzeugs erfolgt, so dass die Gefährdung für die Insassen minimiert wird.1. Device for reducing the risk of injury to vehicle occupants in an accident, characterized in that object detection devices are provided which detect whether another vehicle is moving transversely to the direction of movement of the own vehicle, that an evaluation device is provided which detects whether a collision of the own vehicle Vehicle with the other vehicle is unavoidable and when both conditions exist, direction change devices can be controlled such that the unavoidable collision occurs in an area of the other vehicle, so that the danger to the occupants is minimized.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Objekterkennungseinrichtungen ein Bilderfassungs- und -Verarbeitungssystem, ein Radarsystem, ein Lidarsystem oder eine Kombination hieraus ist.2. Device according to claim 1, characterized in that the object recognition devices is an image acquisition and processing system, a radar system, a lidar system or a combination thereof.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die3. Device according to claim 1 or 2, characterized in that the
Erkennung der quergerichteten Bewegungsrichtung des weiteren Falirzeugs in Bezug auf das eigene Fahrzeug durch die Objekterkennungseinrichtung anhand einer Erkennung eines charakteristischen Fahrzeugmusters erfolgt.Detection of the transverse direction of movement of the further vehicle in relation to one's own vehicle is carried out by the object recognition device on the basis of a recognition of a characteristic vehicle pattern.
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die charakteristischen Fahrzeugmuster die Fahrzeugräder oder die Kotflügel oder die Seitenscheiben oder eine Kombination hieraus sind. 4. The device according to claim 3, characterized in that the characteristic vehicle patterns are the vehicle wheels or the fenders or the side windows or a combination thereof.
5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Feststellung der Unvermeidbarkeit einer Kollision durch den Abstand der beiden Fahrzeuge, deren Geschwindigkeiten sowie deren Bewegungsrichtungen bestimmt wird.5. Device according to one of claims 1 to 4, characterized in that the determination of the inevitability of a collision is determined by the distance between the two vehicles, their speeds and their directions of movement.
6. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Fahrtrichtungsänderungseinrichtung eine elektrisch ansteuerbare oder hydraulisch ansteuerbare Lenkung und/oder eine elektrisch ansteuerbare oder hydraulisch ansteuerbare Verzögerungseinrichtung zum gezielten Abbremsen eines einzelnen oder mehrerer einzelner Räder ist.6. Device according to one of claims 1 to 5, characterized in that the direction change device is an electrically controllable or hydraulically controllable steering and / or an electrically controllable or hydraulically controllable deceleration device for targeted braking of one or more individual wheels.
7. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass der gewünschte Auf prallbereich des weiteren Fahrzeugs der seitliche Frontbereich oder der seitliche Heckbereich ist.7. Device according to one of claims 1 to 6, characterized in that the desired impact area of the further vehicle is the side front area or the side rear area.
8. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass gewünschte Aufprallbereich des weiteren Fahrzeugs die Fahrzeugteile sind, die nicht die Fahrgastzelle bilden.8. Device according to one of claims 1 to 6, characterized in that the desired impact area of the further vehicle are the vehicle parts that do not form the passenger compartment.
9. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass wenn das weitere Fahrzeug mittels der Objekterkennungseinrichtung als Lastkraftwagen erkannt wurde, der gewünschte Aufprallbereich des weiteren Fahrzeugs so gewählt wird, dass ein Unterfahren des Lastkraftwagens vermieden wird.9. Device according to one of claims 1 to 6, characterized in that when the further vehicle has been recognized as a truck by means of the object recognition device, the desired impact area of the further vehicle is selected such that the truck is prevented from going underneath.
10. Vorrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass eine Ansteuerung der Fahrtrichtungsänderungseinrichtungen unterbleibt, wenn der Fahrer rechtzeitig in das Fahrgeschehen eingreift.10. Device according to one of claims 1 to 9, characterized in that the direction change devices are not activated if the driver intervenes in the driving situation in good time.
11. Verfahren zur Verringerung des Verletzungsrisikos von Fahrzeuginsassen bei einem Unfall, dadurch gekennzeichnet, dass bei Erkennen mittels einer Objekterkennungseinrichtungen dass sich ein weiteres Fahrzeug quer zur11. A method for reducing the risk of injury to vehicle occupants in the event of an accident, characterized in that when an object is detected by means of object detection devices, another vehicle is located transversely to the
Bewegungsrichtung des eigenen Fahrzeugs bewegt, und bei Erkennen dass eine Kollision des eigenen Fahrzeugs mit dem weiteren Fahrzeug unvermeidbar ist Fahrtrichtungsänderungseinrichtungen derart angesteuert werden, dass die unvermeidbare Kollision in einem Bereich des weiteren Fahrzeugs derart erfolgt, dass die Gefährdung für die Insassen minimiert wird. Direction of movement of the own vehicle moves, and upon detection that a collision of the own vehicle with the other vehicle is unavoidable, direction change devices are controlled in such a way that the unavoidable collision takes place in a region of the other vehicle in such a way that the danger to the occupants is minimized.
PCT/DE2004/001356 2003-06-30 2004-06-26 Device and method for reducing the risk of injury of passengers in the event of an accident WO2005001792A1 (en)

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