Method for warning a vehicle of collisions with obstacles and collision warning system

Abstract

A method for warning a vehicle (1) of collisions with obstacles, wherein a control unit evaluates vehicle information, the vehicle information including the positions of obstacles (4, 6) in the vicinity of the vehicle (1), and an output system issues several types of collision warnings to the driver of the vehicle (1) when at least one obstacle (4, 6) is present in the vicinity of the vehicle (1), wherein when the vehicle (1) is stationary, the type of collision warning is changed depending on the vehicle information and the duration of the vehicle (1) being stationary, characterized in that the types of collision warnings include an active warning (10) and an advisory warning (20), wherein the active warning (10) issues collision warnings of higher intensity and the advisory warning (20) issues collision warnings of lower intensity.where an active warning (10) is issued until a certain point in time when the vehicle is stationary (1) and a warning (20) is issued from that point onwards.

Description

[0001] The present invention relates to a method according to the preamble of claim 1 for warning a vehicle of collisions with obstacles, wherein a control unit evaluates vehicle information and an output system outputs multiple types of collision warnings to the driver of the vehicle when at least one obstacle is present in the vehicle's surroundings. Furthermore, the present invention relates to a collision warning system for a vehicle, wherein the collision warning system has a control unit for evaluating vehicle information and an output system for outputting multiple types of collision warnings to the driver of the vehicle when an obstacle is present in the vehicle's surroundings. STATE OF THE ART

[0002] Collision warning systems in vehicles are generally well known. They provide the driver with warnings about obstacles in the vehicle's vicinity. This is intended to prevent collisions with these obstacles. This is particularly common in parking assistance systems, for example. So-called "side distance warning systems" can be used to warn the driver of a collision with obstacles adjacent to the vehicle, for example, during a turn. It is known that at least an acoustic warning, and often also a visual warning, is issued if the vehicle approaches a side obstacle too closely.

[0003] It has been discovered that, for example, in a turning situation, the warning continues to be issued when the vehicle is stationary. This can cause unnecessary distractions for the driver. Therefore, the currently used lateral distance warning methods are known to terminate the warning after a certain period of the vehicle's stationary state. With the existing methods, a warning is only issued again when the vehicle starts moving again or when the distance to the obstacle changes.

[0004] However, when the vehicle is stationary, the obstacle usually remains, often only a few centimeters from the vehicle, especially from the side of the vehicle. If a warning only begins when the vehicle begins to move, the driver's reaction time to avoid a collision may be too short. In this case, a collision between the vehicle and the obstacle can no longer be prevented.

[0005] US 2008 / 0 068 146 A1 discloses a vehicle warning device that warns the vehicle, prior to entering a common intersection, to cautiously enter the common intersection due to the presence of other vehicles if the other vehicles have been detected as moving through the common intersection in front of the vehicle. The warning device comprises a detection device capable of determining the movement of vehicles within a detection zone, wherein the detection device is mounted on the front part of a vehicle.

[0006] The document DE 10 2006 002 232 A1 discloses a method for collision monitoring for an area in front of and / or to the side of the driver's cab that is not visible to the driver of a commercial vehicle, with the aid of ultrasonic sensors that detect this area, in which method, when the vehicle is at a standstill, the ultrasonic sensors determine the actual state in the area, whereby the area is measured by the ultrasonic sensors over a defined period of time and the distance to the at least one object that is already present in the area at the time of the standstill is determined, wherein the actual state is re-determined each time the vehicle is at a standstill and is stored as a reference state in a control unit.

[0007] The object of the present invention is to remedy the aforementioned disadvantages. In particular, the object of the present invention is to provide a method and a device by which the driver of a vehicle is reliably warned of obstacles, in particular lateral obstacles, in the vicinity of the vehicle. The driver of the vehicle should, on the one hand, be reliably warned of these obstacles in the vicinity of the vehicle and, on the other hand, be warned in such a way that the driver does not forget the obstacle in the vicinity of the vehicle, yet is not unnecessarily impaired by the warning in his or her driving. REVELATION OF THE FINDING

[0008] The above object is achieved by a method for warning a vehicle of collisions with obstacles, having the features of independent claim 1. Furthermore, the object is achieved by a collision warning system for a vehicle, having the features of claim 7. Further features and details of the invention emerge from the subclaims, the description and the drawings. Features and details described in connection with the method according to the invention for warning a vehicle of collisions with obstacles naturally also apply in connection with the collision warning system according to the invention for a vehicle, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made to each other.

[0009] In particular, the object is achieved in that, according to the inventive method according to claim 1, the type of collision warning is changed when the vehicle is stationary, depending on the vehicle information and the time the vehicle was stationary. In the collision warning method, the control unit evaluates the vehicle information and processes it in such a way as to detect a possible collision of the vehicle with obstacles that surround the vehicle, in particular from the sides. If a risk of collision is detected, a collision warning is issued to the driver of the vehicle to increase their attention so that they perceive the risk of collision and can take measures to prevent a collision.However, a permanent collision warning, particularly when the distance to the obstacle does not change when the vehicle is stationary, for example, can subjectively lose its urgency for the driver or lead to unnecessary distraction. However, suspending the control warning until the vehicle starts moving again carries the risk that the driver will no longer have enough reaction time to avoid the collision if the obstacle is very close. Therefore, the method according to the invention provides that the type of collision warning is changed when the vehicle is stationary depending on the vehicle information and the time the vehicle has been stationary. In particular, vehicle information that suggests that the driver will soon resume driving the vehicle is evaluated.The various types of collision warning can differ, for example, in their frequency, intensity or positioning in the driver's field of vision. This process can ensure that the driver does not forget the obstacle while the vehicle is stationary, for example by using a type of collision warning with reduced frequency and / or intensity, which can also avoid unnecessary distraction of the driver. In particular, before the vehicle continues driving, which can be detected by evaluating suitable vehicle information, a change in the type of collision warning can again indicate a possible collision with the obstacle in the vehicle's vicinity. This gives the driver sufficient time to take measures to prevent a collision with the obstacle.The obstacle mentioned is usually a side obstacle that is difficult for the driver to see.

[0010] In a method according to the invention, it may be advantageous for the output system to comprise several types of acoustic and / or optical collision warnings and to output at least one collision warning to the driver of the vehicle when at least one obstacle is present in the surroundings of the vehicle.

[0011] Acoustic collision warnings can differ in volume, pitch, tone length, or repetition frequency, for example. Different tone sequences are also conceivable. Visual collision warnings can be configured with different colors, brightness levels, positioning in the driver's field of vision, or flashing signals with different flashing frequencies. A combination of acoustic and visual collision warnings as a type of collision warning is of course also possible. An image or simulation, particularly of the obstacle, can also be shown on a display. Thus, the use of acoustic and / or visual systems to output collision warnings enables a wide variety of collision warning types.

[0012] Furthermore, a method according to the invention can provide that, to determine the vehicle information, a state of the vehicle's steering system and / or a state of a vehicle's turn signal and / or a state of a vehicle's clutch and / or a state of a vehicle's gearshift are evaluated. Particularly when the vehicle is stationary, a change in the state leads to a change in the type of collision warning. By evaluating the aforementioned vehicle components, it can be concluded that the driver may soon resume driving.The vehicle information that can be obtained by evaluating the aforementioned vehicle components includes, in particular, a new steering angle, which can be made particularly in the direction of the obstacle; the activation of a turn signal, which can indicate movement toward the obstacle; the actuation of a clutch (in particular, engaging a gear in the case of manual transmissions and releasing the brake in the case of automatic transmissions) or the depressing of the vehicle's clutch pedal. The vehicle information determined by evaluating the vehicle components in each case allows the conclusion that the driver intends to continue driving.In order to alert the driver of the vehicle to a still existing (side) obstacle, the type of collision warning is then changed in such a way that the driver's attention is drawn to the presence of the obstacle before continuing to drive, thus enabling him or her to reliably avoid a collision.

[0013] Furthermore, a method according to the invention can provide for the intensity of the collision warning to be adjusted depending on the vehicle information. In particular, it can be provided for the collision warning to have a high intensity at the beginning of the vehicle's standstill, which is then reduced after a certain period of time. If the vehicle information indicates that the driver will soon resume driving, the intensity of the collision warning can be increased again. This can increase the driver's attention before resuming driving, and collisions with obstacles can thus be avoided.

[0014] According to the invention, the types of collision warnings include an active warning and an advisory warning, with the active warning issuing collision warnings of higher intensity and the advisory warning issuing collision warnings of lower intensity. For example, an active warning can consist of a combination of acoustic and visual signals, while an advisory warning consists of only visual signals. An advisory warning can also consist of just an acoustic signal, for example two beeps with, for example, half a second intervals, with a longer pause between the individual beep groups. The active warning is intended to warn the driver of the vehicle of an acute risk of collision, while the advisory warning is intended to remind the driver of the vehicle of the obstacle in particular without unnecessarily distracting them.

[0015] According to the invention, an active warning is issued up to a certain point in time at which the vehicle is stationary, and an advisory warning is issued from this point onwards. At the beginning of the vehicle's standstill, it is still very likely that the vehicle will continue driving. In order to indicate the potential risk of collision with the obstacle to the driver, an active warning is used as a type of collision warning because it is highly intense and is therefore very easily noticed by the driver. If the vehicle is stationary for a longer period of time, it is not to be expected that the vehicle will continue driving immediately; the advisory warning then used as a type of collision warning reminds the driver of the obstacle in the vehicle's vicinity. The intensity of the advisory warning is, however, lower so that the driver is not unnecessarily distracted.Of course, if the vehicle information changes, especially if the vehicle information indicates that the vehicle will soon continue driving based on changes in status, it is possible to issue an active warning as a type of collision warning in order to redirect the driver's attention to the obstacle through its increased intensity.

[0016] It can also be provided according to the invention that the specific time is determined depending on the vehicle information. At the specific time when the vehicle is stationary, the active warning transitions to the advisory warning. The specific time can, for example, be determined depending on the distance to the obstacle in the vicinity of the vehicle, so that the active warning is issued for longer if the obstacle is closer to the vehicle. The active warning can also be issued for longer, i.e. the specific time can occur later if, for example, the state of the steering and / or the state of the vehicle's indicators indicate a possible movement of the vehicle towards the obstacle. In this way, if there is a greater risk of a potential collision with the obstacle, the active warning is issued for longer, which can increase the driver's attention to the obstacle.

[0017] Furthermore, a method according to the invention can provide for the detection of obstacles in the vicinity of the vehicle adjacent to the vehicle. In particular, there are areas adjacent to the vehicle that are not visible to the driver. Especially during a turning maneuver, it can therefore be advantageous to warn primarily about obstacles located adjacent to the vehicle. In particular, large stones, bollards, and / or posts are often used for road markings; these are easy to overlook and pose a collision hazard, particularly during a turning maneuver. The method according to the invention can reliably warn about these collision hazards.

[0018] According to a second aspect, the problem is solved by a collision warning system for a vehicle, wherein the collision warning system has a control unit for evaluating vehicle information, wherein the vehicle information includes the position of at least one obstacle in the vicinity of the vehicle, and an output system for outputting multiple types of collision warnings to the driver of the vehicle when an obstacle is present in the vicinity of the vehicle. In particular, the collision warning system is designed such that, when the vehicle is stationary, the type of collision warning depends on the vehicle information and the time the vehicle has been stationary. Thus, after a period of stationary vehicle operation, less explicit collision warnings can be output, which no longer warn of a direct collision but are intended only to remind the driver of the presence of the obstacle in the vicinity of the vehicle.This can prevent unnecessary distraction of the vehicle driver. In particular, it can be provided that, when vehicle information indicates that the vehicle may soon resume driving, intensive collision warnings are issued. These alert the driver of the vehicle to the obstacle in the vehicle's vicinity before the vehicle resumes driving, allowing them to avoid a collision when the vehicle resumes driving.

[0019] Advantageously, the invention can provide for the collision warning system to be designed to carry out a method configured according to the features of the first aspect of the invention. All of the advantages described in connection with the method according to the first aspect of the invention thus naturally also apply to a collision warning system according to the invention that is designed to carry out such a method. PREFERRED EMBODIMENTS

[0020] Further measures improving the invention are described in more detail below, together with the description of preferred embodiments of the invention, with reference to the figures. They show schematically: Fig. 1 Top view of a vehicle in a turning situation, Fig. 2 Illustration of a possible design of an advisory warning, and Fig. 3 Illustration of a possible design of an active warning.

[0021] In Fig. 1 shows a vehicle 1 equipped with a collision warning system 2 according to the invention, which is in a turning situation. The planned turning direction to the left is symbolized by an arrow 8. The vehicle 1 is located, for example, in a driveway bordered by obstacles 4, 6. The vehicle's own sensors 3 can determine the distances 5, 7 to the obstacles 4, 6. In this example, the distance 5 to the obstacle 4 is greater than the distance 7 to the obstacle 6. The collision warning system 2 according to the invention can alert the driver of the vehicle 1 to the presence of the lateral obstacles 4, 6. If the turning maneuver is planned onto a larger, busy road, for example, it may happen that the vehicle 1 is stationary for a longer period of time before the turning maneuver.A permanent collision warning by the collision warning system 2 would unnecessarily distract the driver of the vehicle 1 when the vehicle 1 is stationary. The collision warning system 2 according to the invention can therefore change the type of collision warning depending on the vehicle information and the length of time the vehicle has been stationary. For example, the intensity of the type of collision warning can be reduced after a certain time; in particular, the method according to the invention can automatically switch from an active warning to an advisory warning. In particular, an advisory warning has a lower intensity than an active warning, whereby, for example, an advisory warning can consist of a purely optical signal or of short acoustic signals generated with a longer pause between them.If the collision warning system 2 detects vehicle information regarding a change in the vehicle's condition that indicates a possible imminent resumption of travel by the vehicle 1, the collision warning system 2 can, in turn, issue an active warning that indicates the driver of the vehicle 1, before resuming travel, the possible collisions with the obstacles surrounding the vehicle 1. This gives the driver of the vehicle 1 the opportunity to consider the possible obstacles 4, 6 before resuming travel and to adjust the direction of travel 8 accordingly.

[0022] Fig. Figure 2 shows a possible embodiment of the output devices of the vehicle 1 in the case of an information warning 10. The situation of the vehicle 1 corresponds to the situation that also applies to the Fig. 1. In this embodiment, when an advisory warning 10 is issued, a loudspeaker 11 is deactivated; only visual signals are output. The possible display device for this purpose has a stylized vehicle 16, to which four distance markers 12, 13, 14, 15 are assigned. There is one distance marker each for a distant obstacle on the left side 12, a near obstacle on the left side 13, a distant obstacle on the right side 14 and a near obstacle on the right side 15, where near can mean, for example, closer than 40 cm to the vehicle 1 and far can indicate, for example, a distance between 40 and 100 cm next to the vehicle 1. In the example shown here, the advisory warning 10 is output for a distant obstacle on the left side, which is indicated by an activated display 12 and a deactivated display 13.In the example shown, there is a nearby obstacle on the right side of vehicle 1, which is indicated by the active indicators 14, 15. Active in the illustrated embodiment means that the indicator is illuminated. This indicator 10 allows the driver of vehicle 1 to recognize at any time, by looking at the display device, that obstacles 4, 6 are located next to vehicle 1. However, the lower intensity of the indicator warning means that the driver of vehicle 1's attention is not overly demanded, and they are not unnecessarily distracted.

[0023] In Fig. 3 shows possible output devices of a vehicle 1 for an active warning 20. The situation of the vehicle 1 corresponds to the situation that also applies to the Fig.2 is used. The active warning 20 can, for example, be issued when the vehicle 1 has just come to a standstill or when the vehicle information evaluated by the collision warning system 2 suggests that the driver may soon resume driving the vehicle 1. With the active warning 20, for example, an acoustic collision warning is issued, symbolized here by the active loudspeaker 21. The distance markers 12, 14, 15, which are still active, can additionally flash and / or change color in order to increase the intensity of the warning in relation to an advisory warning. With an active warning 20, which was activated due to vehicle information suggesting that the vehicle 1 may soon resume driving, the driver of the vehicle 1 should be informed of the presence of the obstacles 4, 6 in the vicinity of the vehicle 1 before the journey begins.The driver of the vehicle 1 thus has the possibility to adjust the direction of travel 8 in such a way that a collision with the obstacles 4, 6 can be safely avoided.

[0024] The above-mentioned embodiments describe the present invention by way of examples. Of course, features of the individual embodiments can be freely combined with one another, provided they are technically feasible, without departing from the scope of the present invention.

Claims

[1] Method for warning of collisions with obstacles for a vehicle (1), wherein a control unit evaluates vehicle information and wherein the vehicle information comprises the positions of obstacles (4, 6) in the surroundings of the vehicle (1), and an output system outputs several types of collision warnings to the driver of the vehicle (1) in the presence of at least one obstacle (4, 6) in the surroundings of the vehicle (1), wherein when the vehicle (1) is stationary, the type of collision warning is changed depending on the vehicle information and the time of the stationary of the vehicle (1), characterized bythat the types of collision warnings comprise an active warning (10) and an advisory warning (20), wherein the active warning (10) issues collision warnings of higher intensity and the advisory warning (20) issues collision warnings of lower intensity, wherein an active warning (10) is issued up to a certain point in time at which the vehicle (1) is stationary and an advisory warning (20) is issued from this point in time. [2] Method according to claim 1, characterized by that the output system comprises several types of acoustic and / or optical collision warnings and outputs at least one collision warning to the driver of the vehicle (1) in the presence of at least one obstacle (4, 6) in the surroundings of the vehicle (1). [3] Method according to one of claims 1 or 2, characterized byin that, in order to determine the vehicle information, a state of a steering system of the vehicle (1) and / or a state of an indicator of the vehicle (1) and / or a state of a clutch of the vehicle (1) and / or a state of a gearshift of the vehicle (1) are evaluated, wherein, in particular when the vehicle is stationary, a change in the state leads to a change in the type of collision warning. [4] Method according to one of claims 1 to 3, characterized by that the intensity of the collision warning is set depending on the vehicle information. [5] Method according to one of the preceding claims, characterized by that the specific time is determined depending on the vehicle information. [6] Method according to one of claims 1 to 5, characterized by that the obstacles (4, 6) in the surroundings of the vehicle (1) are detected next to the vehicle (1). [7] Collision warning system (2) for a vehicle (1), comprising a control unit for evaluating vehicle information, wherein the vehicle information includes the position of at least one obstacle (4, 6) in the surroundings of the vehicle (1), and an output system for outputting several types of collision warnings to the driver of the vehicle (1) in the presence of an obstacle (4, 6) in the surroundings of the vehicle (1), wherein when the vehicle (1) is stationary, the type of collision warning depends on the vehicle information and the time of the stationary state of the vehicle (1), characterized by that the collision warning system (2) is designed to carry out a method according to one of claims 1 to 6

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