Control of motor vehicle

Abstract

A method (200) for controlling a motor vehicle (105) comprises the following steps: establishing a wireless connection between the motor vehicle (105) and a mobile device (110) of a person (115) outside the motor vehicle (105); determining a relative position of the mobile device (110) with respect to the motor vehicle (105); determining a predicted trajectory (305) of the motor vehicle (105); determining a predicted trajectory (310) of the mobile device (110); comparing the trajectory (305, 310) based on the relative position; and determining a possible collision of the motor vehicle (105) with the person (115).

Description

Technical Field

[0001] The present invention relates to the control of vehicles. In particular, the present invention relates to avoiding collisions between motor vehicles and people. Background Art

[0002] The motor vehicle comprises a plurality of sensors for scanning its surroundings. Thus, a fixed or movable object that is about to collide with the motor vehicle can be identified. For example, a pedestrian or a cyclist moving in the area of ​​the motor vehicle can be considered as a possible collision target. The motor vehicle can be controlled to avoid a collision or to mitigate the consequences of a collision. For this purpose, a pre-collision system can be triggered.

[0003] The sensors of the motor vehicle can only penetrate certain obstacles and detect only certain information. In some cases, for example when a person moves transversely to the vehicle and there is an opaque obstacle, such as vegetation or a wall, between the vehicle and the person, the person cannot be detected from the motor vehicle. Summary of the invention

[0004] The object of the present invention is to provide an improved technique for avoiding a collision between a motor vehicle and a person outside the motor vehicle. The present invention achieves this object by means of the technical solutions of the independent claims. The dependent claims provide preferred embodiments.

[0005] A method for controlling a motor vehicle, the method comprising the following steps: establishing a wireless connection between the motor vehicle and a mobile device of a person outside the motor vehicle; determining a relative position of the mobile device relative to the motor vehicle; determining an expected trajectory of the motor vehicle; determining an expected trajectory of the mobile device; comparing the trajectories based on the relative positions; and determining a possible collision between the motor vehicle and the person.

[0006] By determining the relative position, the predicted trajectories can be compared with one another with improved accuracy. A possible collision between a motor vehicle and a person can be predicted with improved safety. The person can be warned of a possible collision and / or the motor vehicle can be controlled to avoid a collision. For this purpose, a longitudinal control of the motor vehicle can be activated in order to accelerate or decelerate the motor vehicle, or a lateral control can be activated in order to change the direction of travel of the motor vehicle. In addition, a pre-collision system can be triggered in order to minimize the consequences of a collision with a person.

[0007] The relative position of the mobile device relative to the motor vehicle can be determined by a wireless connection. In this case, the parameters of the radiation measurement can be analyzed in particular when the signal is transmitted between the motor vehicle and the mobile device. The mobile device can work as a transmitter, and the motor vehicle can work as a receiver, or vice versa. The receiver can determine the direction in which it receives the signal of the transmitter. The distance between the transmitter and the receiver can be determined based on the signal strength or the transmission duration of the signal. The wireless connection may include a Bluetooth connection, in particular a Bluetooth connection according to the Bluetooth Low Energy (BLE) standard. The positioning of the transmitter by the receiver can be achieved by means of a method that has been introduced with Bluetooth version 5.1 in about 2019. The radio signal of the wireless connection used can pass through or bypass the following objects, which interrupt or hinder the direct line of sight connection between the motor vehicle and the person. The determined relative position can be independent of the absolute position, which can be determined on the mobile device side or on the motor vehicle side, for example, by means of a receiver for a satellite-supported navigation system (GNSS).

[0008] Preferably, the mobile device is a personal device assigned to the person. The mobile device may in particular include a smartphone, a smart watch, a tablet, a laptop or a wearable computer. In another embodiment, the mobile device may also be worn on the body of the person (wearable). The wearable computer may be worn on the body by the person and may be implemented, for example, in the form of a smart watch, smart glasses or headphones. By avoiding a collision between the motor vehicle and the mobile device, a collision between the motor vehicle and the person may be prevented with a high probability.

[0009] In another preferred embodiment, a further wireless connection is established between the motor vehicle and the mobile device. The relative position can be determined via the further wireless connection. In this case, data transmission can be carried out via the first-mentioned wireless connection and position determination can be carried out via the latter-mentioned wireless connection. The further wireless connection can include a broadband connection, in particular an ultra-wideband connection (UWB). With the help of UWB, the relative position of the mobile device relative to the motor vehicle can be determined quickly, accurately and reliably. Data related to the trajectory of the motor vehicle or the mobile device can be transmitted via the first wireless connection.

[0010] The predicted trajectory of the motor vehicle can be determined based on one or more information sources on the motor vehicle. Preferably, the predicted trajectory is determined based on the driving direction, driving speed, acceleration, the direction of the road traveled or the planned route. In order to determine the predicted trajectory, sensor values ​​of one or more sensors on the motor vehicle can be analyzed. Such sensors can include acceleration sensors, position sensors, steering angle sensors or sensors for scanning the surrounding environment. Environmental sensors can include, for example, cameras, radar sensors, lidar sensors or ultrasonic sensors.

[0011] When the person is not tied to a specific means of transport, the expected trajectory of a mobile device cannot usually be predicted accurately. For example, a pedestrian is very free in his choice of direction, a cyclist or rider is slightly more limited, but still freer than, for example, a car. On the basis that the person may be a pedestrian, the expected trajectory can be determined based on the direction of movement, the speed of movement, the acceleration, the direction of the sidewalk used by the person or the planned route. For this purpose, the mobile device can include different sensors, in particular position sensors or acceleration sensors. The specific geographical location can be compared with map material to determine the location of surrounding paths or objects.

[0012] Based on the acceleration of the mobile device, the type of forward movement of the person can be determined. The predicted trajectory of the mobile device can be determined based on the type of forward movement. The type of forward movement can indicate which vehicle the person is moving with. Particularly uniform movements can indicate an electric motorcycle, rhythmic movements can indicate a bicycle, and oscillating movements can indicate that the person is a pedestrian. In this case, the gait of the person can also be determined. In this way, for example, it is possible to distinguish between strolling, walking, jogging or running. The predicted trajectory of the mobile device can thus be determined in a further improved manner.

[0013] It should be noted that the trajectory may become increasingly inaccurate as the distance from the current situation increases. It is therefore preferred that the probability of an impending collision is determined with respect to the inaccuracy of the determined predicted trajectory. If the probability should exceed a predetermined threshold value, a possible collision of the motor vehicle with a person can be assumed. Preferably, a prompt of the probability is provided on the motor vehicle. Only when the probability exceeds a predetermined threshold value can a prompt be output. It is particularly preferred that the impending collision is determined with respect to the collision location. The prompt of the probability can be given on a graphical representation of the collision location.

[0014] In a particularly preferred embodiment, a graphical representation of various locations in the surroundings of the motor vehicle is shown on the motor vehicle, wherein a graphical indication of the determined probability of the location being a collision location is shown at each location. In other words, the surroundings of the motor vehicle can be graphically represented and locations where a collision with a person may occur can be highlighted. For example, when a possible collision is determined, a warning symbol can be displayed. Depending on the determined probability, the warning symbol can have different colors. This can be done, for example, according to a traffic light system, with green indicating a determined probability that is not worth mentioning, yellow indicating an average probability, and red indicating a high probability. Instead of the symbols, areas of the surroundings can also be shown in color in the representation.

[0015] The technology described here for determining a possible collision between a motor vehicle and a person can be extended to a plurality of persons with a plurality of mobile devices. The graphical representation can cumulatively take into account the determined collision probabilities. Thus, a region with a large number of low probabilities of collision with a respective person can have a high probability of collision with a person overall and be highlighted accordingly.

[0016] Information for collision determination can be exchanged between the motor vehicle and the mobile device in both directions. According to the invention, it is particularly preferred that trajectory data is transmitted from the mobile device to the motor vehicle and the comparison of the trajectories is carried out on the motor vehicle side. The motor vehicle can have more ways to avoid collisions. Warning systems, control systems or pre-collision systems can belong to this. However, it is also possible to carry out the determination of a possible collision on the mobile device side.

[0017] In another embodiment, it is determined that there is no possible collision if there is a protective barrier between the motor vehicle and the mobile device. The protective barrier can include obstacles that can be assumed to be impossible for a person to overcome. Such obstacles can include, for example, soundproof walls, rivers or house walls. The protective barrier can be marked in map information, which can be used for the comparison of the trajectories. In particular, high-precision map data can be used on the motor vehicle side, which can be downloaded dynamically from an external location. Optionally, sensors of the motor vehicle can be used to scan the surroundings of the motor vehicle and determine the protective barrier. Data about the protective barrier can be forwarded to an external location in order to update the available map data there.

[0018] According to another aspect of the invention, a device for controlling a motor vehicle comprises means for determining an estimated trajectory of the motor vehicle; an interface for establishing a wireless connection between the motor vehicle and a mobile device of a person outside the motor vehicle; and a processing device. Here, the processing device is configured to receive an indication of an estimated trajectory of the mobile device; determine a relative position of the mobile device relative to the motor vehicle; compare the trajectories with each other based on the relative position; and determine a possible collision of the motor vehicle with the person.

[0019] The device and in particular the processing device may be configured to partially or completely carry out the method described herein.

[0020] For this purpose, the processing device can be implemented electronically and can include, for example, an integrated circuit, a programmable logic component or a programmable microcomputer. The method can be implemented in the form of a configuration or as a computer program product with program code means for the processing device. The configuration or the computer program product can be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the device, or vice versa.

[0021] A motor vehicle may include the device described herein. The motor vehicle preferably includes a motorcycle, a car, a truck or a bus.

[0022] The mobile device comprises means for determining an estimated trajectory of the mobile device; an interface for establishing a wireless connection with a motor vehicle; and processing means arranged to transmit the estimated trajectory of the mobile device to the motor vehicle.

[0023] Further preferably, both the device on the motor vehicle and the mobile device are respectively provided for carrying out relative position determination via a wireless connection. Here, the device and the mobile device can each have another interface for establishing another wireless connection. The other wireless connection can be carried out in particular via UWB.

[0024] A system includes a motor vehicle as described herein and a mobile device as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will now be described in more detail with reference to the accompanying drawings, in which:

[0026] Figure 1 A system is shown;

[0027] Figure 2 a flow chart illustrating a method; and

[0028] Figure 3 An exemplary illustration of a surroundings map with information about possible collision locations is shown. DETAILED DESCRIPTION

[0029] Figure 1 A system 100 is shown, which includes a motor vehicle 105 and a mobile device 110. The mobile device 110 is assigned to a person 115 who carries the mobile device 110. A device 120 is installed on the motor vehicle 105.

[0030] Motor vehicle 105 and mobile device 110 are relatively close to one another, so that a collision is at least possible due to the movement of motor vehicle 105 and person 115. Person 115 cannot be directly perceived from motor vehicle 105 because he is located behind obstacle 125. A technique is proposed in order to nevertheless determine a possible collision between person 115 and motor vehicle 105 with high quality and to be able to prevent it.

[0031] The device 120 comprises a processing device 130, a first wireless interface 135, which preferably operates according to the Bluetooth standard, more preferably according to Bluetooth low energy, and a second wireless interface 140, which preferably operates with the aid of ultra-wideband UWB. In addition, a sensor 145 for scanning the surroundings of the motor vehicle 105 can be provided. The sensor 145 can be configured to scan the surroundings of the motor vehicle 105. In addition, a position sensor 150 is optionally provided, which preferably operates as a receiver of a satellite-supported navigation system GNSS.

[0032] The mobile device 110 preferably also includes wireless interfaces 135 and 140 and may also include a sensor 145 and / or a position sensor 150. The sensor 145 may include, in particular, an acceleration sensor.

[0033] A wireless connection between the motor vehicle 105 and the mobile device 110 can be established by means of the first interface 135. The relative position between the motor vehicle 105 and the mobile device 110 can be determined by means of the first interface 135 or preferably by means of the second interface 140. The relative position can include a distance and / or a direction. If the second interface 140 is not provided on the motor vehicle 105 side or on the mobile device 110 side, the first interface 135 can be used for this purpose.

[0034] Position determination by means of UWB usually uses a plurality of transmitting / receiving units (transceivers), which are installed at different locations on the motor vehicle 105. Radio pulses can be sent out by different transceivers in a predetermined sequence and at predetermined time intervals. On the mobile device 110 side, the pulses can be received in sequence. The spacing between the individual transceivers and the mobile device 110 is slightly different, so that the transmission duration for each pulse is also slightly different. From the different durations of the successively received pulses, the position of the mobile device 110 relative to the motor vehicle 105 can be determined with knowledge of the location at which the transceiver is installed on the motor vehicle 105.

[0035] Starting from the relative positions, a possible impending collision can be determined based on the predicted trajectories of the motor vehicle 105 and the mobile device 110 or the person 115. On the motor vehicle 105 side, the predicted trajectory can be determined, for example, based on the course of the road being traveled, the speed of movement or the planned route. On the person 115 side, the impending trajectory can be determined in a similar manner based on the speed, acceleration or the planned route. For this purpose, the mobile device 110 can include a processing device 155 and a sensor 160. The sensor 160 can include an acceleration sensor in particular.

[0036] Alternatively, the determined relative position and the predicted trajectory can be analyzed on the motor vehicle 105 side or on the mobile device 110 side. For this purpose, the corresponding information can be transmitted via the wireless connection of the first interface 135. It should be noted that when it is mentioned here that the motor vehicle 105 communicates with the mobile device 110, this means that the device 120 on the motor vehicle 105 communicates with the corresponding corresponding interface 135, 140 of the mobile device 110 by means of one of the interfaces 135, 140.

[0037] Figure 2 A flow chart of method 200 in an exemplary embodiment is shown. In the left area, method steps that are assigned by way of example to motor vehicle 105 are shown, and in the right area, steps that are assigned to mobile device 110 of person 115 are shown.

[0038] In step 205, a predicted trajectory of person 115 or mobile device 110 can be determined on the side of mobile device 110. In parallel therewith, a predicted trajectory can be determined on the side of motor vehicle 105 in step 210. Preferably, steps 205, 210 are performed continuously.

[0039] In step 215 , mobile device 110 may provide a wireless connection via first interface 135 . If motor vehicle 105 enters the communication range, it may accept the connection in step 220 , so that a wireless connection is established between motor vehicle 105 and mobile device 110 .

[0040] In step 225, the relative position between motor vehicle 105 and mobile device 110 can be determined. This determination can be made via first wireless interface 135, but preferably via second interface 140. The relative position can include the direction and / or distance of the respective other communication partner 105, 110.

[0041] In step 230 , movement or trajectory data may be exchanged between motor vehicle 105 and mobile device 110 . Here, it is assumed by way of example that the data are collected and further processed on the motor vehicle 105 side.

[0042] In step 235, the predicted trajectories of the motor vehicle 105 and the mobile device 110 can be determined and compared with one another. In step 240, the probability of a collision can be determined based on the comparison. The collision can occur at a collision location where the predicted trajectories are below a predetermined relative distance from one another. The probability of a collision at the collision location can depend on the reliability with which one of the trajectories in the area can be determined.

[0043] In step 245, it can be determined whether there is a protective barrier between motor vehicle 105 and person 115 that prevents a collision at the determined collision location. If no protective barrier is detected, a warning about a possible impending collision can be provided. If the determined probability exceeds a predetermined threshold value, a warning can be output.

[0044] Furthermore, motor vehicle 105 may optionally be controlled in step 250 to prevent a collision. To this end, the movement of motor vehicle 105 may be controlled in such a way that the predicted trajectory does not form a collision point with the predicted trajectory of mobile device 110 or person 115. In particular, motor vehicle 105 may be turned, accelerated or braked.

[0045] Figure 3 An exemplary illustration of a surroundings map of a motor vehicle 105 is shown. The illustration can be provided on a display device on board the motor vehicle 105. A first estimated trajectory 305 is assigned to the motor vehicle 105. A second estimated trajectory 310 is assigned to the mobile device 110 of the person 115. The darkened circles on the trajectories 305, 310 represent the times at which the motor vehicle 105 or the mobile device 110 is located at the depicted position.

[0046] Trajectory 305, 310 forms possible collision point 315 by way of example. At collision point 315, the distance between mobile device 110 and motor vehicle 105 cannot be easily seen in this diagram, because it is not shown at which time the participants 105, 110 are respectively located at which location. Therefore, the time when participants 105, 110 arrive at possible collision point 315 may be different from each other in time. However, in this example, the probability of a collision at collision point 315 is large enough to issue a warning. The warning can be highlighted, for example, by a color-coded area, by a symbol or (as shown) by concentric circles. Additionally or alternatively, an audible or tactile warning, for example, can be provided.

[0047] In order to be able to compare predicted trajectories 305, 310 with one another and determine possible collision point 315, it is essential to determine relative position 320 of mobile device 110 relative to motor vehicle 105 at an initial point in time. Relative position 320 is drawn with a dashed line and represents the determined direction and distance between motor vehicle 105 and mobile device 110.

[0048] Reference numerals

[0049] 100 systems

[0050] 105 Motor Vehicles

[0051] 110 Mobile Devices

[0052] 115 staff

[0053] 120 devices

[0054] 125 obstacles

[0055] 130 Processing device

[0056] 135 First wireless interface, preferably BLE

[0057] 140 Second wireless interface, preferably UWB

[0058] 145 Sensors

[0059] 150 Position Sensor

[0060] 155 Processing device

[0061] 160 sensors

[0062] 200 Methods

[0063] 205 Determine the first estimated trajectory

[0064] 210 Determine the second predicted trajectory

[0065] 215 provides connection

[0066] 220 Connection accepted

[0067] 225 Determine relative position

[0068] 230 Transmit motion data

[0069] 235 Comparison Trajectory

[0070] 240Determine the probability of collision

[0071] 245 Output warning

[0072] 250 Control of motor vehicles

[0073] 305 First estimated trajectory (of a motor vehicle)

[0074] 310 Second estimated trajectory (of mobile device)

[0075] 315 Collision Site

[0076] 320 relative position

Claims

1. A method (200) for controlling a motor vehicle (105), wherein: The method (200) comprises the following steps: - establishing (215, 220) a wireless connection between the motor vehicle (105) and a mobile device (110) of a person (115) outside the motor vehicle (105); - determining (225) the relative position of the mobile device (110) relative to the motor vehicle (105); - determining (205) a predicted trajectory (305) of the motor vehicle (105); - determining (210) a projected trajectory (310) of the mobile device (110); and - comparing (235) the trajectories (305, 310) based on the relative positions; and - determining (240) a possible collision between the motor vehicle (105) and the person (115).

2. The method (200) according to claim 1, wherein: The relative position is determined via the wireless connection.

3. The method (200) according to claim 2, wherein: A further wireless connection is established (225) between the motor vehicle (105) and the mobile device (110); and the relative position is determined (225) via the further wireless connection.

4. The method (200) according to any of the preceding claims, wherein: The predicted trajectory (305) of the motor vehicle (105) is determined based on the driving direction, driving speed, acceleration, the course of the road being driven or the planned route.

5. The method (200) according to any of the preceding claims, wherein: The estimated trajectory (310) of the mobile device (110) is determined based on the direction of movement, the speed of movement, the acceleration, the orientation of a pedestrian path used by the person (115) or a planned route.

6. The method (200) according to claim 5, wherein: A type of forward motion of the person (115) is determined based on the acceleration of the mobile device (110); and the trajectory (310) is determined based on the type of forward motion.

7. The method (200) according to any of the preceding claims, wherein: A probability of an impending collision is determined; and a notification of the probability is provided on the motor vehicle (105).

8. The method (200) of claim 7, wherein: A graphical representation of various locations in the surroundings of the motor vehicle (105) is displayed on the motor vehicle (105); a graphical indication of the determined probability that the location is a collision location is displayed at each location.

9. The method (200) according to any of the preceding claims, wherein: The trajectories (305, 310) are compared with one another on the motor vehicle (105).

10. The method (200) according to any of the preceding claims, wherein: If a protective barrier exists between the motor vehicle (105) and the mobile device (110), it is determined that there is no possible collision.

11. A device (120) for controlling a motor vehicle (105), wherein: The equipment includes the following: - means (145) for determining the predicted trajectory of the motor vehicle (105); - an interface (135) for establishing a wireless connection between the motor vehicle (105) and a mobile device (110) of a person (115) outside the motor vehicle (105); - A processing device (130) configured to receive an indication of an expected trajectory of the mobile device (110); determine a relative position of the mobile device (110) relative to the motor vehicle (105); compare the trajectories with each other based on the relative positions; and determine a possible collision of the motor vehicle (105) with a person (115).

12. Motor vehicle (105) comprising a device according to claim 11.

13. A mobile device (110), wherein: The mobile device (110) comprises the following: - means for determining an expected trajectory of a mobile device (110); - an interface (135) for establishing a wireless connection to a motor vehicle (105); and - a processing device (155) configured to transmit the estimated trajectory of the mobile device (110) to the motor vehicle (105).

14. System (100) comprising a motor vehicle (105) according to claim 12 and a mobile device (110) according to claim 13.

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