Method for determining the accident risk caused by moisture for a vehicle

Abstract

The present invention relates to a method and a device for determining the accident risk caused by moisture for a vehicle (80). The method comprises the steps of: receiving a signal from the ultrasonic sensor (30) of the vehicle (80), the signal representing the noise level caused by moisture, comparing the magnitude of the noise level with a first predefined threshold value, determining information about the magnitude of the accident risk for the vehicle (80) based on the result of the comparison, and using the information about the magnitude of the accident risk in the vehicle (80).

Description

Field of the Invention

[0001] The present invention relates to a method and a device for determining an accident risk caused by moisture for a vehicle. Background Art

[0002] From the prior art, the following vehicles are known: The vehicle is provided with one or more ultrasonic sensors for environmental sensing of the vehicle. For this purpose, ultrasonic waves are first emitted by the ultrasonic sensor into a predefined environmental area of the vehicle to be sensed. Subsequently, based on the ultrasonic waves reflected or scattered by the environment to the ultrasonic sensor, the propagation time of the ultrasonic waves can be determined. Finally, based on the propagation time of the ultrasonic waves, the distance of the vehicle relative to an object in the environment of the vehicle can be determined within the corresponding sensing area of the ultrasonic sensor. In the prior art, the distance information relative to an object in the environment of the vehicle obtained in this way is received and used, for example, by a maneuvering assistance system of the vehicle (such as in a parking assistance system).

[0003] In addition, from the prior art, a controller of a vehicle is known, which provides driver assistance functions and / or autonomous or partially autonomous vehicle control. For example, a distance adjustment controller and an emergency braking assistance device are known as such controllers, and the distance adjustment controller and the emergency braking assistance device operate independently of the current existing road conditions (wet, dry, etc.) in the prior art.

[0004] DE112014004258T5 describes an ultrasonic-based object sensing device for a vehicle. In the implemented object recognition, it can be considered that the noise based on road reflections and the noise signals generated by obstacles or objects have the same quality and are significantly different from other noises inside the vehicle.

[0005] DE69016250T2 relates to an ultrasonic device on a vehicle for measuring the speed of the vehicle relative to a lane. This measurement is carried out based on Doppler analysis evaluation.

[0006] DE102007061952A1 describes a method for positioning a pedestrian, in which mainly thermal signals and incidentally also ultrasonic signals are additionally analyzed and evaluated, and in which a comparison with a reference data set is carried out in terms of noise and other artifacts.

[0007] DE102005032460A1 describes a device for pedestrian-vehicle collision recognition, in which an ultrasonic sensing device is used. Summary of the Invention

[0008] The present invention proposes to explore the surface of the lane successively traversed by a vehicle by means of an ultrasonic sensor of the vehicle, so that the moisture information obtained in this way can be advantageously used in the vehicle, for example to avoid accidents.

[0009] According to a first aspect of the present invention, a method for determining the accident risk caused by moisture for a vehicle is accordingly proposed. For example, the vehicle can be a road vehicle (such as a motorcycle, passenger car, transport vehicle, truck) or a rail vehicle or an air vehicle / airplane or a water vehicle. In a first step of the method according to the present invention, a signal of an ultrasonic sensor of the vehicle is received, which signal represents the noise level caused by moisture. In particular, this method step of the method according to the present invention and the method steps described below can be implemented by means of an analysis and evaluation unit according to the present invention of the vehicle. The analysis and evaluation unit according to the present invention can be part of an independent controller or part of an existing controller of the vehicle. Preferably, the ultrasonic sensor can be an existing ultrasonic sensor of the vehicle, i.e., for example, an ultrasonic sensor of the parking assistance system of the vehicle. Alternatively or additionally, the ultrasonic sensor used can also be an ultrasonic sensor dedicated to the method according to the present invention, which can be mounted on the vehicle at a suitable location and with a suitable orientation for the method according to the present invention. In principle, the method according to the present invention allows the use of ultrasonic sensors with different sensing areas and / or sensitivities and / or arrangement positions on the vehicle and / or orientations with respect to the vehicle. For example, the ultrasonic sensor can be connected to the analysis and evaluation unit according to the present invention in terms of information technology directly or indirectly (such as through another controller of the vehicle) via the vehicle's on-board electrical network. In this way, the analysis and evaluation unit according to the present invention can receive and then process the signal generated by the ultrasonic sensor. In addition, immediately following this reception, the analysis and evaluation unit can first store the received ultrasonic sensor signal in an internal and / or external storage unit, which can be connected to the analysis and evaluation unit in terms of information technology.

[0010] In particular, the noise level caused by moisture represented by the signal of the ultrasonic sensor can be generated by a preceding vehicle in such a way that the wheels of the preceding vehicle generate water spray when passing over a wet roadway surface, and the water spray can cause a wet hissing sound (Nasszischen) over a relatively long period of time, which can be sensed by the ultrasonic sensor of the vehicle. The more water is present on the roadway surface, the stronger the resulting moisture-induced noise level in the signal of the ultrasonic sensor typically is. It should be noted that the moisture-induced noise level generated by the ultrasonic sensor can also be caused alternatively or additionally by the vehicle itself (i.e., the present vehicle). It should also be noted that the method according to the invention can also be carried out based on a plurality of ultrasonic sensors, which can be arranged at different positions of the vehicle in the same and / or different orientations. The signals of the plurality of ultrasonic sensors can be received and processed by the evaluation unit via the vehicle electrical system as described above.

[0011] In a second step of the method according to the invention, the magnitude of the moisture-induced noise level is compared with a first predefined threshold value. Preferably, the first predefined threshold value can be stored in a storage unit attached to the evaluation unit and read from there by the evaluation unit and subsequently used in the evaluation unit. For example, the comparison process can be implemented based on a computer program executed by the evaluation unit, which is configured to carry out all the method steps of the method according to the invention. For example, the result of the comparison can be stored again in the storage unit attached to the evaluation unit for downstream processing.

[0012] In a third step of the method according to the invention, information about the magnitude of the accident risk is determined for the vehicle based on the result of the comparison. In the simplest case, the evaluation unit can determine whether the accident risk is high or low based on whether the moisture-induced ultrasonic sensor noise level exceeds or is below the first predefined threshold value. In addition, it can also be considered that in the case where the moisture-induced noise level exceeds the predefined threshold value, the magnitude of the accident risk is further differentiated. This can be achieved, for example, by the fact that the stronger the moisture-induced noise level exceeds the first predefined threshold value, the higher the evaluation unit grades the potential accident risk. For this purpose, for example, a plurality of first predefined threshold values can be stored in the storage unit, each of which represents a different magnitude of the moisture-induced noise level. By assigning corresponding values to the magnitude of the accident risk in the storage unit, the evaluation unit can accordingly determine the corresponding magnitude of the accident risk based on the different moisture-induced noise levels. Instead of differentiating only the magnitude of the accident risk for the moisture-induced noise level above the first predefined threshold value, the entire noise level range can also be evaluated in terms of the magnitude of the accident risk.

[0013] In a fourth step of the method according to the invention, information on the magnitude of the accident risk is used in the vehicle. For example, the information can be used in the controller of the distance adjustment controller and / or the emergency braking assistance device, and the distance adjustment controller and / or the emergency braking assistance device can be connected to the analysis and evaluation unit according to the invention via the vehicle electrical system of the vehicle in terms of information technology. In this way, the analysis and evaluation unit can transmit the determined information on the magnitude of the accident risk to the corresponding receiving controller in the vehicle in the form of a signal (such as a CAN bus signal, a Flexray signal, etc.).

[0014] The dependent claims show preferred developments of the invention.

[0015] In an advantageous configuration of the invention, the ultrasonic sensor is directed in the direction of the main travel direction of the vehicle or in the direction opposite to the main travel direction. This means, in other words, that the axis of the main radiation direction (or the main reception direction) of the ultrasonic sensor can be oriented substantially horizontally along the travel direction of the vehicle or in the direction opposite to its travel direction. This does not explicitly exclude that the ultrasonic sensor used in the method according to the invention can also be arranged at other positions of the vehicle (for example on the side of the vehicle). This also does not exclude that the ultrasonic sensor used can be tilted downwards or upwards with respect to the vehicle coordinate system. Alternatively or additionally, the ultrasonic sensor can also be tilted laterally. Furthermore, as described above, a plurality of ultrasonic sensors can be used, and these ultrasonic sensors can preferably be arranged not only along the main travel direction of the vehicle but also in the direction opposite to the main travel direction.

[0016] In another advantageous configuration of the invention, an ultrasonic sensor oriented in the main travel direction of the vehicle is preferably used to sense the wet hissing sound of the vehicle traveling in front, while an ultrasonic sensor oriented opposite to the main travel direction of the vehicle is preferably used to sense the wet hissing sound of the vehicle itself. In addition, the ultrasonic sensor oriented opposite to the travel direction can also be used to sense the wet hissing sound of the vehicle following behind. In particular, if the existing wetness on the lane is sufficient to generate a wetness-induced noise level corresponding to the wet hissing sound of one or more vehicles traveling in front by means of this ultrasonic sensor, it can be advantageous to use the ultrasonic sensor oriented in the main travel direction of the vehicle. If the lane only has a low humidity that is not sufficient to generate a wetness-induced noise level in the ultrasonic sensor oriented in the main travel direction of the vehicle, the ultrasonic sensor oriented opposite to the main travel direction can be advantageously used for the method according to the invention, because this ultrasonic sensor can generate a wetness-induced noise level even in the case of low existing humidity. In particular, the noise level may be caused by the wet hissing sound of the wheels of the vehicle itself. In addition, in principle, the wet hissing sound of the vehicle following behind can also be sensed by this ultrasonic sensor oriented opposite to the main travel direction of the vehicle.

[0017] In the case of using a plurality of ultrasonic sensors for the method according to the invention, the noise level of the ultrasonic sensor oriented in the main travel direction of the vehicle can be compared, for example, with a first predefined threshold, while the noise level of the ultrasonic sensor oriented opposite to the main travel direction of the vehicle is compared with a second predefined threshold. In addition, depending on the number of ultrasonic sensors used, third, fourth and more predefined thresholds can also be used for the comparison of the corresponding wetness-induced noise levels. In this way, the predefined thresholds assigned to the individual ultrasonic sensors can be optimally adapted to the wetness-induced noise levels generated respectively. The corresponding results of the comparison of the wetness-induced noise levels of the individual ultrasonic sensors can be used alternatively or jointly in the vehicle. That is, by means of the analysis and evaluation unit, for example, it can additionally be evaluated which of these results or which of the corresponding wetness-induced noise levels has sufficient reliability. Based on this evaluation, the analysis and evaluation unit can then determine in what form which results should be used in the vehicle.

[0018] In another advantageous configuration of the invention, the first predefined threshold value and / or the second predefined threshold value is determined as a function of the speed of the vehicle. In other words, a plurality of first and second predefined threshold values can be stored in a storage unit attached to the analysis and evaluation unit, and these first and second predefined threshold values can be addressed and used by the analysis and evaluation unit as a function of the current speed of the vehicle. In this way, the analysis and evaluation unit can use a correspondingly lower threshold value when the speed of the vehicle is low, and a correspondingly higher threshold value when the speed of the vehicle is high. In this way, it is possible to compensate for speed-dependent changes in the noise level caused by moisture by means of respectively adapted predefined threshold values.

[0019] In another advantageous configuration of the invention, information about the magnitude of the accident risk is used in a suitable controller of the vehicle in order to adapt the speed of the vehicle and / or in order to adapt the distance from a vehicle traveling ahead. Alternatively or additionally, information about the magnitude of the accident risk is used to prepare the vehicle for a potential accident. This can, for example, result in triggering a so-called pre-collision function which is used in particular to tighten the seat belts in the vehicle. Furthermore, alternatively or additionally, information about the magnitude of the accident risk can be used to issue a warning to the driver of the vehicle. Such a warning can be, for example, an acoustic and / or optical and / or haptic warning signal which informs the driver that the accident risk has increased. Additionally or alternatively, information about the magnitude of the accident risk can be used to adapt the distance at which an emergency braking intervention is initiated and / or to adapt the braking pressure and / or to adapt the adjustment range of a distance control controller in the vehicle.

[0020] In another advantageous configuration of the invention, when obtaining information about the magnitude of the accident risk, the tread depth and / or width of the tires of the vehicle, and / or the speed of the vehicle, and / or the current distance of the vehicle relative to the vehicle traveling in front and / or the vehicle following behind, and / or the weight borne by the rear axle of the vehicle are additionally considered. Thus, by considering the above influencing factors, the actual magnitude of the accident risk of the vehicle can be determined more precisely. Therefore, in the case of using tires with a small tread depth and / or a large width, the accident risk is correspondingly graded higher, because compared with a vehicle with tires having a large tread depth and a small width, the braking distance of this vehicle is correspondingly longer especially in relation to a wet road surface. The same applies to a vehicle with a small weight borne by the rear axle and / or a high speed. Therefore, these influencing factors are also considered for accurately obtaining the current accident risk by the analysis and evaluation unit. The corresponding values of the above and / or other conceivable influencing factors on the current accident risk can be automatically obtained and / or pre-specified with the aid of user input. For example, the current speed of the vehicle can be obtained based on the signals of one or more wheel speed sensors or based on the (satellite-assisted) positioning system of the vehicle. For example, the current distance of the vehicle relative to the vehicle traveling in front and / or the vehicle following behind can be obtained with the aid of additional sensors, such as radar sensors or lidar sensors. It is also conceivable that, especially when other influencing factors on the noise level, such as the speed change of the vehicle and / or the change in the amount of water on the road surface, remain substantially unchanged at least within a pre-defined measurement time period, the distance relative to another vehicle is obtained based on the changed noise level caused by moisture of the ultrasonic sensor according to the method of the invention. Preferably, the analysis and evaluation unit is made aware of the tread depth and width of the tires of the vehicle by means of user input in the vehicle. For example, the corresponding weight borne by the rear axle of the vehicle can be automatically obtained based on one or more height sensors of the vehicle.

[0021] In another advantageous configuration of the invention, the credibility of the information obtained about the magnitude of the accident risk for the vehicle is verified based on the environmental information of other sensors of the vehicle. For this purpose, it is possible to additionally sense the water spray generated by other vehicles by means of the camera and / or radar sensor and / or lidar sensor of the vehicle. Based on the corresponding suitable algorithms, corresponding values can be obtained for the existing amount of moisture on the road surface according to the output signals of these additional sensors. The analysis and evaluation unit according to the invention can then compare the corresponding values with the values obtained by the method according to the invention, and thereby verify the credibility of the latter. In this way, the reliability of the method according to the invention can be additionally improved.

[0022] According to a second aspect of the present invention, a device for determining the accident risk caused by moisture for a vehicle is proposed. The device includes an analysis and evaluation unit having a data input end and a data output end. The analysis and evaluation unit can be a part of the existing controller of the vehicle or an independent controller. In addition, the analysis and evaluation unit can be configured as an ASIC, FPGA, processor, digital signal processor, microcontroller, etc., and can be attached in terms of information technology to an internal and / or external storage unit, in which data received and / or calculated by the analysis and evaluation unit for subsequent processing can be stored. The analysis and evaluation unit can also be set to implement the method steps based on a computer program for implementing the method steps according to the present invention as described above. The analysis and evaluation unit is further set, in association with the data input end, to receive, via the vehicle electrical system of the vehicle, the signal of an ultrasonic sensor of the vehicle, which signal represents the noise level caused by moisture. For this purpose, the vehicle electrical system can include, for example, a bus system (such as CAN, Flexray, MOST, etc.), which is set to transmit information between a plurality of controllers of the vehicle. The analysis and evaluation unit is also set to compare the magnitude of the noise level with a first predefined threshold, which first predefined threshold is preferably stored in the storage unit attached to the analysis and evaluation unit. According to the result of this comparison, the analysis and evaluation unit is additionally set to determine, for the vehicle, information regarding the magnitude of the accident risk. The information regarding the magnitude of the accident risk can be transmitted, via the analysis and evaluation unit in association with the data output end of the analysis and evaluation unit, to a suitable receiving controller in the vehicle, and the receiving controller can use this information, in particular to improve the safety in the vehicle. For example, a distance adjustment controller and / or an emergency braking assistance device, etc. are suitable as such receiving controllers. Description of the Drawings

[0023] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Shown herein are:

[0024] Figure 1 : A flowchart illustrating the steps of an embodiment of the method according to the present invention; and

[0025] Figure 2 : A schematic overview of the device according to the present invention connected to a vehicle. Detailed Embodiments

[0026] Figure 1A flowchart is shown that illustrates the steps of an embodiment of a method for determining the accident risk caused by moisture for a vehicle. In step 100 of the method according to the invention, the analysis and evaluation unit according to the invention receives, via the Flexray bus of the vehicle, the signal of an ultrasonic sensor of the vehicle that is oriented along the main driving direction of the vehicle. This signal represents the noise level caused by moisture, which is generated by another vehicle traveling in front when passing through a rain-wet lane. In step 200, the analysis and evaluation unit according to the invention (which is a microcontroller here) compares the noise level of the ultrasonic sensor signal received via the Flexray bus with a first predefined threshold value, which is stored in a storage unit that is attached to the analysis and evaluation unit in terms of information technology. For this purpose, the analysis and evaluation unit first determines the current speed of the vehicle based on the signal of the wheel speed sensor of the vehicle. Here, a current speed value of 70 km / h is determined. Based on this speed value, the analysis and evaluation unit selects a first predefined threshold value from a plurality of first predefined threshold values that are predefined respectively for a determined speed range. Here, the comparison of the magnitude of the noise level with the first predefined threshold value corresponding to a speed of 70 km / h results in that the noise level is currently higher than the first predefined threshold value. In step 300, based on the result of this comparison, the analysis and evaluation unit determines information about the current accident risk magnitude for the vehicle. Here, additionally considered are: the current speed, information about the tread depth of the tires of the vehicle, information about the tire width, information about the weight currently pressing on the rear axle of the vehicle, and the distance of the vehicle from the vehicle traveling in front. In this embodiment, the distance from the vehicle traveling in front is determined based on the distance radar system of the vehicle. A high noise level caused by moisture can infer that there is a relatively large amount of water on the lane. Based on this exemplary high noise level present here, based on the small tread depth of the tires of the vehicle and based on the relatively small weight applied to the rear axle of the vehicle, the analysis and evaluation unit determines a very high current accident risk for this vehicle. In step 400, the information about the very high accident risk is transmitted from the analysis and evaluation unit via the Flexray bus to the distance adjustment controller of the vehicle, and the distance adjustment controller automatically reduces the speed of the vehicle based on the very high accident risk.

[0027] Figure 2Schematic illustration of a device according to the invention in combination with a vehicle 80. The device according to the invention includes an analysis and evaluation unit 10, which is a microcontroller in this case. The analysis and evaluation unit 10 has a data input 12 and a data output 14, which are respectively connected to the vehicle network of the vehicle 80 in terms of information technology. The analysis and evaluation unit 10 can execute the above method steps according to the invention based on a computer program for implementing the method according to the invention. In addition, the analysis and evaluation unit 10 is connected to an external storage unit 20 in terms of information technology, and the data received and / or calculated by the analysis and evaluation unit 10 are stored in this storage unit. Through the data input 12, the analysis and evaluation unit 10 is connected to an ultrasonic sensor 30 oriented along the main driving direction of the vehicle 80 and an ultrasonic sensor 35 oriented opposite to the main driving direction of the vehicle 80 in terms of information technology. The analysis and evaluation unit 10 receives signals representing the noise level caused by moisture from these two ultrasonic sensors 30, 35 respectively. In addition, the analysis and evaluation unit 10 is connected to a camera 40 also oriented along the main driving direction of the vehicle 80 through the data input 12 in terms of information technology. The analysis and evaluation unit 10 is associated with the camera 40 and is configured to perform a credibility check on the result of the above method according to the invention in terms of the magnitude of the current accident risk of the vehicle 80 by additionally analyzing and evaluating the output signal of the camera 40. Through the data output 14, the analysis and evaluation unit 10 is connected to the distance adjustment controller 50 of the vehicle 80 in terms of information technology. The result of the method according to the invention, which has been subjected to a credibility check by means of the output signal of the camera 40, is provided to the distance adjustment controller 50 by the analysis and evaluation unit 10, whereby the distance adjustment controller adapts the distance adjustment of the vehicle 80 accordingly.

Claims

1. A method for determining an accident risk caused by moisture for a means of transport (80), the method comprising the following steps: - Receive (100) signals from ultrasonic sensors of the vehicle (80) that are oriented along the main driving direction of the vehicle (80) and from ultrasonic sensors that are oriented opposite to the main driving direction, the signals representing the noise level caused by moisture, wherein the ultrasonic sensors oriented along the main driving direction of the vehicle are used to sense the moisture hissing sound of the vehicle traveling in front, and the ultrasonic sensors oriented opposite to the main driving direction of the vehicle (80) are used to sense the moisture hissing sound of the vehicle (80) itself and are also used to sense the moisture hissing sound of the following vehicle behind, - Compare the noise level of the ultrasonic sensors oriented along the main driving direction of the vehicle (80) with a first predefined threshold, and compare the noise level of the ultrasonic sensors oriented opposite to the main driving direction of the vehicle (80) with a second predefined threshold, wherein the results of the respective comparisons are used alternatively or jointly in the vehicle (80), - Determine (300) information about the magnitude of the accident risk for the vehicle (80) based on the results of the comparison, and - Use (400) the information about the magnitude of the accident risk in the vehicle (80).

2. The method according to claim 1, wherein Determine the first predefined threshold and / or the second predefined threshold based on the speed of the vehicle (80).

3. The method according to claim 1 or 2, wherein Use the information about the magnitude of the accident risk for: - Adapting the speed of the vehicle (80), and / or - Adapting the distance of the vehicle (80) relative to the vehicle traveling in front, and / or - Preparing the vehicle (80) for a potential accident, and / or - Warning the driver of the vehicle (80), and / or - Adapting the distance at which an emergency braking intervention starts, and / or - Adapting the braking pressure, and / or - Adapting the setting range of the distance adjustment controller (50).

4. The method according to claim 1 or 2, wherein Additionally consider, when determining (300) the information about the magnitude of the accident risk: - The tread depth and / or width of the tires of the vehicle (80), and / or - The speed of the vehicle (80), and / or - The current distance of the vehicle (80) relative to the vehicle traveling in front and / or the following vehicle behind, and / or - The weight pressing on the rear axle of the vehicle (80).

5. The method according to claim 4, wherein Automatically or by means of a user input, obtain the respective values of the tread depth and / or width of the tires of the vehicle (80) and / or the weight pressing on the rear axle of the vehicle (80).

6. The method according to claim 1 or 2, wherein Perform a credibility check on the information about the magnitude of the accident risk determined for the vehicle (80) based on the environmental information of additional sensors (40) of the vehicle (80).

7. A device for determining the accident risk caused by moisture for a vehicle (80), wherein, The device is arranged to carry out the method according to any one of claims 1 to 6, wherein the device comprises: - an analysis and evaluation unit (10), - a data input terminal (12), and - a data output terminal (14), wherein the analysis and evaluation unit (10) is arranged to, - receive, in association with the data input terminal (12), signals from ultrasonic sensors of the vehicle (80) that are oriented along the main driving direction of the vehicle (80) and ultrasonic sensors that are oriented opposite to the main driving direction, the signals representing the noise level caused by moisture, wherein the ultrasonic sensors oriented along the main driving direction of the vehicle are used to sense the hissing sound of moisture from the vehicle traveling ahead, and the ultrasonic sensors (30) that are oriented opposite to the main driving direction of the vehicle (80) are used to sense the hissing sound of moisture of the vehicle (80) itself and also to sense the hissing sound of moisture of the following vehicle behind, - compare the noise level of the ultrasonic sensors oriented along the main driving direction of the vehicle (80) with a first predefined threshold, and compare the noise level of the ultrasonic sensors oriented opposite to the main driving direction of the vehicle (80) with a second predefined threshold, wherein the respective results of the comparisons are alternatively or jointly used in the vehicle (80), - obtain information about the magnitude of the accident risk for the vehicle (80) according to the results of the comparisons, and - use the information about the magnitude of the accident risk in the vehicle (80) in association with the data output terminal (14).

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