Method and system for avoiding lateral collision

Abstract

The present invention relates to a method for avoiding a lateral collision of the host vehicle (1), the method comprising the following steps: - monitoring a lateral area of the host vehicle (1), dividing the monitored area into at least two sub-areas, the sub-areas at least including a warning area (V1-V3) and a triggering area (T), - identifying a target vehicle (2) in the warning area (V1-V3) and the triggering area (T), - determining the motion parameters of the host vehicle (1) and the target vehicle (2), - controlling the host vehicle (1) to increase the distance from the target vehicle (2), characterized in that the host vehicle (1) is controlled according to the residence time (t1-t3) of the target vehicle (2) in the warning area (V1-V3) and in the triggering area (T), and the monitored sub-areas are located on a lane (F2) adjacent to the lane (F1) in which the host vehicle (1) travels and / or on a lane (F3) adjacent to the adjacent lane (F2).

Description

Technical Field

[0001] The invention relates to a method for avoiding a lateral collision of a vehicle and a system for executing the method. Background Art

[0002] For example, methods are known from the prior art that monitor the immediate lateral and rear spaces and issue a warning if necessary. These methods are usually referred to as AoLC (Avoidance of Lateral Collision, lateral collision avoidance) functions.

[0003] Thus, for example, WO 2014 / 095104 A1 discloses a method for monitoring the area behind and to the side of a vehicle by means of radar. Here, if a vehicle enters the rear area or the warning area, a warning signal is sent to the driver. A second area directly to the side of the vehicle is used to monitor the driving process of the detected vehicle. The warning signal is maintained until the detected vehicle leaves the area to the side of the vehicle. A method for monitoring the space behind the side is also known from DE 10 2006 010 275 A1.

[0004] A disadvantage of the current prior art is that incorrect identification of object properties of the target vehicle (eg lateral or longitudinal speed of the target vehicle) may lead to erroneous interventions, thereby reducing the quality and maturity of such methods. Summary of the invention

[0005] The object of the present invention is therefore to design the collision monitoring robustly by means of suitable measures in order to achieve an AoLC functionality with the highest possible degree of maturity.

[0006] This object is achieved by the subject-matter of independent claims 1 and 8 .

[0007] First of all, it must be taken into account that if the vehicle is to be controlled directly, in addition to the division of the monitoring area, the time factor in connection with the detection of the target vehicle must also be taken into account. This is because triggering the control of the vehicle too early or too late can bring great risks. In addition, the divided areas should be differentiated at least partially in terms of their value. For the simple output of warning information, as also described in the prior art, the time factor is of little significance to this extent, because the driver decides whether intervention is necessary based on the information itself and continues to observe even after the driver has noticed the potential danger. In addition, with regard to the area to be monitored, it has been found that it may be necessary not only to detect the direct adjacent lanes, but also the lanes adjacent to the adjacent lanes.

[0008] Therefore, according to the present invention, a method for avoiding a lateral collision of a vehicle is proposed. Here, the lateral area of ​​the vehicle is monitored, wherein the monitored area is divided into at least two sub-areas, and the sub-areas include at least a warning area and a trigger area. If a target vehicle is identified in the warning area and the trigger area, the motion parameters of the vehicle and the target vehicle are then determined. Subsequently, the vehicle can be controlled so that the distance between the vehicle and the target vehicle increases.

[0009] Here, the vehicle is controlled according to the target vehicle's stay time in the warning area and in the trigger area, wherein the monitored subarea is located on a lane adjacent to the lane in which the vehicle is traveling and / or on a lane adjacent to the adjacent lane.

[0010] The trigger area represents the narrow detection geometric area in which the target vehicle must be located for the relative relationship between the host vehicle and the target vehicle to trigger a lateral control intervention. The trigger area can overlap geometrically with the warning area. In addition, the minimum time that the target vehicle is in the trigger area is also important.

[0011] The warning area is a geometric area that is detected further away than the trigger area and in which the target vehicle must be before entering the trigger area in order for it to be considered a relevant object. The warning area ensures that the target vehicle does not suddenly appear in the trigger area, which could happen, for example, due to erroneous sensor data.

[0012] In the method according to the invention, it is advantageous if the monitored area is divided into at least two different areas and the target vehicle must have been in at least each area for at least a certain time before a control intervention can be triggered. Furthermore, a control intervention is only triggered if the target vehicle is in the triggering area. In this way, premature triggering of the control intervention is prevented. In this context, the term control intervention describes the control of the host vehicle.

[0013] In preferred embodiments, the partial regions are respectively constant with regard to their spatial positioning and / or are respectively adaptively adapted.

[0014] In another embodiment, the adaptive adaptation of the sub-areas is performed based on the vehicle speed, the lateral vehicle speed, the lane width, the lane width of the adjacent lane, or the distance between the vehicle and the lane marking. The adaptive adaptation of the sub-areas is advantageous because, for example, when the lane widens, the target vehicle may be detected too late if the sub-areas are constant.

[0015] Furthermore, it is preferred that the sub-area is located in a lane adjoining the adjacent lane if the adjacent lane is not occupied and the lane change intention of the host vehicle is determined. If a vehicle has been detected in the adjacent lane, a lane change is not possible, so that, for example, the lane change process is interrupted. If no vehicle is detected in the adjacent lane, the lane change can be carried out. However, for roads with at least three lanes, if a lane change is to be made from the rightmost lane to the middle lane, another lane needs to be monitored, because otherwise a vehicle that is also changing from the leftmost lane to the middle lane could be overlooked.

[0016] Therefore, preferably, when a vehicle is identified in the warning area and / or the triggering area, the lane change intention of the target vehicle is detected in a lane adjacent to the adjacent lane. If a vehicle is identified in a lane adjacent to the adjacent lane, it is necessary to determine whether the vehicle intends to change lanes to the same lane as the host vehicle. If the lane change intention of the target vehicle is determined, the lane change process of the host vehicle can be interrupted to avoid a collision. The host vehicle can also be accelerated, as long as the permissible speed limit is not exceeded, and a lane change is performed, thereby ensuring that the host vehicle has a sufficient distance from the target vehicle while changing lanes. In order to determine the lane change intention of the target vehicle, the lateral acceleration of the target vehicle can be determined.

[0017] The movement parameters preferably include vehicle speed and / or vehicle acceleration.

[0018] In a particularly preferred embodiment, the control of the host vehicle includes acceleration, braking processes and / or steering interventions. The vehicle is advantageously controlled accordingly depending on the situation in order to increase the distance to the target vehicle in order to thereby avoid a collision.

[0019] According to the invention, a system for executing the method according to the invention is also proposed, wherein the system has a detection device for detecting and providing monitoring area data, a control device for controlling the vehicle, and a data processing device for evaluating the data.

[0020] Preferably, the detection device comprises at least one camera and / or at least one radar sensor. By means of the radar sensor, a target vehicle in the environment of the vehicle can be advantageously detected. By means of the camera, a target vehicle can be detected and, for example, a lane change intention can be detected by detecting an active direction of travel indication.

[0021] Particularly preferably, the data processing device contains an algorithm with the aid of which the data of the detection device can be analyzed and processed. The algorithm determines whether a regulatory intervention is required, i.e., control of the vehicle, based on conditions that are met or not met. The conditions that must be met for the control include in particular that the target vehicle must have been in the warning area and has remained in the trigger area for a certain minimum time. In addition, certain conditions of the vehicle must be met. For example, the speed or acceleration of the vehicle must have a certain value. When the vehicle plans to change lanes, the conditions for the lane change of the vehicle and the lane change of the target vehicle must also be met. If all necessary conditions are met, the data processing device sends a command to the control device to trigger the regulatory intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other advantageous designs and embodiments of the present invention can be found in the accompanying drawings.

[0023] Figure 1 A schematic diagram showing a vehicle and a monitoring area;

[0024] Figure 2 A schematic flow chart of an algorithm for data analysis processing is shown;

[0025] Figure 3 A schematic illustration of a vehicle and a target vehicle with lane change intention is shown;

[0026] Figure 4 Another schematic flow chart of an algorithm for data analysis is shown. DETAILED DESCRIPTION

[0027] Figure 1 A schematic illustration with a vehicle 1 and a monitoring area is shown. The vehicle 1, which is the vehicle 1 in the sense of the invention, moves in the direction R1 on the lane F1. The monitoring area is divided into three warning areas V1, V2, V3 and a triggering area T, wherein less than or more than three warning areas can also be considered. In the case shown, they are located on the adjacent lane F2 to the left of the vehicle 1. A third lane F3 is also shown. The monitoring area on the left is shown here by way of example. However, the system is also designed in such a way that there are monitoring areas on both sides. In this way, it is ensured that the vehicle environment can be reliably detected and monitored in any case. In the illustration, the area is square. But other geometric shapes are also possible, such as a semicircle.

[0028] Figure 2 1 shows a schematic flow chart of an algorithm for data analysis. Here, the algorithm is used to check whether certain conditions are met and whether a control S or a regulation intervention must be performed. In order to trigger the control S of the host vehicle 1, the target vehicle 2 must be within a certain minimum time t 1 -t 3The target vehicle 2 must meet one of the warning area conditions VB1-VB3 at a certain time t 1 -t 3 For example, Figure 1 In one of the warning areas V1-V3 shown in . It is also necessary for the target vehicle 2 to meet the trigger area condition TB. Here, the target vehicle 2 must be in the trigger area T. In order to meet at least one of the warning area conditions VB1-VB3, in addition to the position and the shortest time of the target vehicle 2 in the warning area V1-V3, other conditions can also be set. They include the minimum and maximum longitudinal and lateral relative speeds of the target vehicle 2. In addition, each warning area V1-V3 can be set with independent and specific conditions. Any condition can be designed adaptively according to the situation. In order to meet the trigger area condition TB, the minimum and maximum longitudinal and lateral relative speeds of the target vehicle 2 can also be set as conditions.

[0029] In addition, certain other conditions B must be met. These may include a certain speed of the host vehicle 1 and / or the target vehicle 2, or a certain lateral acceleration of the host vehicle 1 and / or the target vehicle 2. If all these conditions are met simultaneously, the S vehicle is controlled by means of the algorithm.

[0030] Figure 3 A schematic illustration of a vehicle 1 and a target vehicle 2 with an intention to change lanes is shown. The vehicle 1 is moving in the direction R1, which guides the vehicle 1 in the direction of lane F2. The target vehicle 2 is moving in the direction R2 and also moves to lane F2. Due to the intention of the vehicle 1 to change lanes, the monitoring area is in the third lane F3. At this time, the target vehicle 2 appears in the warning area V and the triggering area T. Therefore, the vehicle 1 can be controlled by corresponding regulatory interventions to avoid a collision.

[0031] Figure 4 Another schematic flow chart of the algorithm for data analysis processing is shown. In addition to the warning area condition VB and the trigger area condition TB, in this case, the condition for detecting the lane change DS1 of the host vehicle 1 and the condition for detecting the lane change DS2 of the target vehicle 2 must also be met. Figure 2 As explained, certain other conditions B must be met before a control or regulation intervention S is triggered.

[0032] Reference numerals list

[0033] 1 Vehicle

[0034] 2 Target Vehicle

[0035] B. Other conditions

[0036] DS1 detects the vehicle's intention to change lanes

[0037] DS2 detects the target vehicle's intention to change lanes

[0038] F1-F3 Lanes

[0039] R1 The direction of movement of the vehicle

[0040] R2 The direction of movement of the target vehicle

[0041] S Control / regulatory intervention

[0042] T Trigger Area

[0043] TB Trigger Area Conditions

[0044] t 1 -t 3 Minimum time in the warning zone

[0045] V1-V3 Warning Area

[0046] VB1-VB3 Warning Area Conditions

Claims

1. A method for avoiding a lateral collision of a vehicle (1), the method comprising the following steps: - monitoring the lateral area of ​​the vehicle (1), dividing the monitored area into at least two sub-areas, the sub-areas comprising at least a warning area (V1-V3) and a trigger area (T), - Identify the target vehicle (2) in the warning area (V1-V3) and the trigger area (T), - determining the motion parameters of the host vehicle (1) and the target vehicle (2), - controlling the vehicle (1) so as to increase the distance between the vehicle (1) and the target vehicle (2), It is characterized in that The vehicle (1) is controlled according to the residence time (t1-t3) of the target vehicle (2) in the warning area (V1-V3) and in the trigger area (T), wherein the monitored sub-area is located on a lane (F2) adjacent to the lane (F1) in which the vehicle (1) is traveling and / or on a lane (F3) adjacent to the adjacent lane (F2), The trigger area represents a narrow detection geometric area as follows: the target vehicle must be located in this geometric area, and the relative relationship between the host vehicle and the target vehicle can trigger the lateral adjustment intervention. The warning area is a geometric area that is detected farther away than the trigger area. The target vehicle must be in the geometric area before entering the trigger area, and only then can the target vehicle in the trigger area be regarded as a relevant object.

2. The method according to claim 1, characterized in that The subregions are each constant with respect to their spatial positioning and / or the subregions are each adaptively adapted with respect to their spatial positioning.

3. The method according to claim 2, characterized in that The sub-areas are adaptively matched based on the vehicle speed, the lateral vehicle speed, the lane width, the lane width of the adjacent lane (F2), the distance between the vehicle and the lane marking, or the lane change intention of the vehicle (1).

4. The method according to claim 1, characterized in that: If the adjacent lane (F2) is not occupied and the lane change intention of the host vehicle (1) is determined, the sub-area is located in a lane (F3) adjoining the adjacent lane (F2).

5. The method according to claim 4, characterized in that If a target vehicle (2) is detected in a warning area (V) and / or a triggering area (T) in a lane (F3) adjoining an adjacent lane (F2), an intention of the target vehicle (2) to change lanes is detected.

6. The method according to claim 1, characterized in that The motion parameters include vehicle speed and / or vehicle acceleration.

7. The method according to claim 1, characterized in that The control (S) of the host vehicle (1) includes acceleration, braking processes and / or steering interventions.

8. A system for executing the method according to any one of claims 1 to 7, the system comprising a detection device for detecting and providing monitoring area data, a control device for controlling the vehicle (1), and a data processing device for analyzing and processing the data.

9. The system according to claim 8, characterized in that The detection device comprises at least one camera and / or at least one radar sensor.

10. The system according to claim 8, characterized in that The data processing device contains an algorithm, with the aid of which the data from the detection device can be evaluated.

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