Method for warning a driver of a motor vehicle of a collision hazard by issuing a non-optical warning signal, collision warning system and motor vehicle

Abstract

Method for warning the driver of a motor vehicle (1) of a collision hazard by issuing a non-optical warning signal (12) by means of a collision warning system (2) of the motor vehicle (1), wherein the collision warning system (2) detects a current steering angle of the motor vehicle (1) and, depending on the current steering angle, determines a virtual driving path (13) which the motor vehicle (1) is expected to travel through at the current steering angle, and wherein objects (17) detected within the driving path (13) are taken into account by the collision warning system (2) for issuing the non-optical warning signal (12). where In addition to the driving tube (13), a virtual monitoring area (20) is defined in a corner area (19) of the motor vehicle (1), and the non-optical warning signal (12) is also issued in the absence of an object (17) within the driving tube (13) if an object (17) is detected within the additional monitoring area (20) by the collision warning system (2), and wherein a plurality of sectors (22, 27) distributed around the motor vehicle (1), in particular of fixed size, are defined for the motor vehicle (1), and after detection of an object (17) in one of the sectors (22, 27), information about this detection is optically output by means of an optical output device (10) of the motor vehicle (1), wherein at least one of the sectors (22, 27) is selected for the additional monitoring area (20), and the additional monitoring area (20) is defined as a sub-area of ​​the selected sector (22, 27). characterized by the fact that the additional monitoring area (20) is defined as a sub-area of ​​the selected sector (22, 27) up to a distance value (28) from the motor vehicle (1), which is set depending on the current steering angle.

Description

[0001] The invention relates to a method for warning the driver of a motor vehicle of a collision hazard by issuing a non-optical warning signal using a collision warning system of the motor vehicle, wherein the collision warning system detects the current steering angle of the motor vehicle and, depending on the current steering angle, determines a virtual path that the motor vehicle is expected to travel through at the current steering angle, and wherein objects detected within the path are taken into account by the collision warning system for issuing the non-optical warning signal. The invention also relates to a collision warning system for a motor vehicle and to a motor vehicle with a collision warning system.

[0002] Collision warning systems for motor vehicles are state-of-the-art and serve to warn the driver of a potential collision with an object outside the vehicle. To alert the driver to the detected collision risk, these systems emit an audible warning signal. A particular challenge with such acoustic collision warning systems lies in determining precisely when and in which situations the warning signal should be issued. On the one hand, the driver should be alerted to the collision risk as early and reliably as possible. On the other hand, such systems should also prevent the driver from being unnecessarily disturbed by the audible warning signal.A compromise is offered by a method that employs a so-called "trajectory filter" of objects external to the vehicle. Depending on the current steering angle, a virtual trajectory is determined, i.e., a predicted path the vehicle would take at that steering angle. This trajectory encompasses the entire width the vehicle would travel at the current steering angle. Within this trajectory, collision-free movement of the vehicle is only possible if no objects are present. The trajectory filter determines whether the detected objects are located within the trajectory. If an object is detected within the trajectory, an acoustic warning signal is emitted.

[0003] The provision of a virtual driving hose is known, for example, from document DE 10 2005 004 394 B4.

[0004] A collision warning system is known from document DE 101 28 792 A1. Sensors on the vehicle detect areas of the vehicle's surroundings, and their signals are evaluated by a data processing unit to calculate the available unobstructed driving space. Other sensors additionally detect the position and location of all moving vehicle parts, such as a trailer, as well as dynamic parameters of the current driving situation, such as speed, steering angle, and the like. From this information, the required driving space for continuing the journey is predicted and compared with the detected, actually available unobstructed driving space. This comparison provides an early prediction of a possible collision, and the driver is alerted to the risk of collision by appropriate warning signals.

[0005] DE 103 21 904 A1 discloses the monitoring of the immediate vicinity of a motor vehicle to avoid collisions with obstacles, wherein a distance sensor is provided in the area of ​​a side flank of the motor vehicle to monitor lateral obstacles.

[0006] DE 10 2006 057 751 A1 discloses a method for collision avoidance between a vehicle and objects, wherein the distance of objects to the vehicle is measured, the driving path is determined based on the current steering direction of the vehicle, it is determined whether the vehicle is colliding with an object, and it is indicated whether the vehicle is colliding with an object while maintaining a specific driving path.

[0007] DE 10 2011 116 822 A1 discloses the monitoring of the surroundings of vehicles, wherein a lateral detection area is recorded with sensors and a warning signal is triggered when a person, a cyclist or a collision hazard object is detected within a warning area located in the detection area, wherein the lateral warning area is adjusted during a turning maneuver.

[0008] DE 10 2007 011 539 A1 discloses a vehicle with sensors designed to record the environment and foreign objects in the vicinity of the vehicle and to display distance information of objects superimposed on the environment on a display.

[0009] In the prior art, the driving path is determined based on the current steering angle of the vehicle, which describes the expected trajectory of the vehicle at that steering angle. In the prior art, objects are also detected, and their positions are compared with the driving path. The warning signal is only emitted if the presence of an object within the driving path is detected. It has now been found that with such object filtering of the driving path, there are driving situations in which a potentially dangerous object is signaled too late. In particular, when reversing out of a perpendicular parking space, an object bordering the space laterally—for example, another vehicle or a wall—may be signaled too late.In such situations, the driver's attention is more focused on the area behind the vehicle, meaning that the front corner areas of the vehicle, in particular, are inadequately monitored and protected.

[0010] The object of the invention is to take measures in a method of the aforementioned type that ensure that the driver of the motor vehicle can be warned particularly reliably of the possible collision with objects external to the vehicle when maneuvering the motor vehicle.

[0011] This problem is solved according to the invention by a method, a collision warning system, and a motor vehicle with the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description, and the figures.

[0012] In this procedure, the driver of a motor vehicle is warned of a collision risk by means of the vehicle's collision warning system. The warning is issued by emitting a non-visual warning signal, in particular an acoustic and / or haptic warning signal. The collision warning system detects the current steering angle of the vehicle and, depending on this current steering angle and, in particular, also taking into account stored vehicle dimensions, determines a virtual path that the vehicle is expected to travel at the current steering angle. This path represents the expected trajectory of the vehicle at the current steering angle.The width of this driving lane is preferably determined in the transverse direction of the vehicle such that collision-free movement of the vehicle along the driving lane is only possible if there are no objects within the driving lane. Objects detected by the collision warning system within the driving lane are taken into account for the issuance of the non-optical warning signal. The non-optical warning signal is issued, in particular, if an object is detected within the driving lane by the collision warning system. It is provided that, in addition to the driving lane, a virtual monitoring area, particularly adjacent to the vehicle, is defined in a corner area of ​​the vehicle, and that the non-optical warning signal is also issued in the absence of an object within the driving lane if an object is detected within the additional monitoring area by the collision warning system.

[0013] The driver is thus alerted to obstacles within the driving lane; at the same time, objects located in a monitoring area, defined independently of the driving lane, are also signaled to the driver. This monitoring area extends to a corner of the vehicle, particularly a front corner. This system assists the driver, especially when reversing out of a perpendicular parking space. When reversing, the driver's attention is typically focused on the area behind the vehicle. If the collision warning system were to consider only objects located within the driving lane behind the vehicle, the driver would receive insufficient warning, as the front corners of the vehicle are outside the driving lane in such situations.A side collision between one of the vehicle's corners and an object bordering the parking space, such as a wall or a neighboring vehicle, could occur. To prevent such collisions, the system defines an additional monitoring area, which the collision warning system checks for the presence of external objects while the vehicle is maneuvering. If an object is detected within the monitoring area, the non-visual warning signal is issued, even if no objects are detected within the vehicle's operating area. This allows the driver to be alerted to relevant objects at an early stage.

[0014] The driving range is determined based on the current steering angle of the vehicle. This steering angle can be determined, in particular, based on the current steering wheel angle and / or the current position of a tie rod of the vehicle, which can be detected by a suitable sensor. Vehicle dimensions, such as the width of the vehicle, are also preferably taken into account to determine the current driving range.

[0015] To detect objects external to the vehicle, the collision warning system can include a detection device. This detection device can include at least one distance sensor, in particular at least one ultrasonic sensor and / or at least one radar sensor and / or at least one lidar sensor, and / or at least one camera that provides images of the vehicle's surroundings. In particular, several distance sensors can be distributed across the vehicle, preferably several distance sensors on both the front and rear bumpers. At least one distance sensor can be arranged on the respective side of the vehicle to detect distances to objects located in lateral areas next to the vehicle. The sensor axis, which defines the sensor's detection direction, is then preferably oriented along the vehicle's transverse direction.

[0016] In one embodiment, the additional monitoring area is determined based on the current steering angle. The monitoring area is therefore preferably not a fixed area relative to the vehicle, but is determined situationally and as needed. Thus, the driver is only warned by the non-visual warning signal when this is actually necessary. This prevents situations in which the driver is unnecessarily bothered by the non-visual warning signal.

[0017] It has proven particularly advantageous if the additional monitoring area is only determined or considered for issuing the non-visual warning signal when the current steering angle is greater than a predefined threshold. If the current steering angle is less than the threshold, only those objects located within the driving lane are considered for issuing the non-visual warning signal. This embodiment takes advantage of the fact that a collision with lateral obstacles—especially when reversing along a wall or another vehicle—is essentially only possible at a larger steering angle, but not at a steering angle of 0° or when driving straight ahead. Thus, the warning signal is prevented from being issued in situations where there is no risk of collision with a lateral obstacle.

[0018] Defining the monitoring area based on the current steering angle can also include defining at least one dimension of the additional monitoring area and / or its position depending on the current steering angle. This determines the size of the monitoring area and / or its position relative to the vehicle based on the current steering angle. This allows for a good compromise regarding the frequency of the warning signal.

[0019] The monitoring area can also be determined taking into account the current vehicle speed. For example, a larger monitoring area can be defined at a higher speed than at a lower speed.

[0020] Preferably, the object is detected within the additional monitoring area by means of a distance sensor, for example an ultrasonic sensor, arranged on a side of the vehicle. Such a distance sensor can be located, for example, in the front area of ​​the side, such as on a fender or at the edge of a bumper. The detection direction of the distance sensor then preferably coincides with the vehicle's transverse direction. Using such a distance sensor, which is arranged on the side of the vehicle, objects located in the corner area and to the side of the vehicle can be detected. Such obstacles pose a potential hazard, for example, when the vehicle is reversing out of a parking space.

[0021] As previously explained, it has proven advantageous to define the additional monitoring area at least when the vehicle is reversing. This is because the two front corners of the vehicle are outside the driving lane in this situation and should therefore be monitored additionally. In this case, the monitoring area can be defined as one of the front corners of the vehicle.

[0022] Regarding the determination of the monitoring area, two alternative embodiments may be provided: A monitoring area can be defined as a rectangular area adjacent to a side of the vehicle, the width of which is adjusted in the transverse direction of the vehicle, particularly depending on the current steering angle. Such an area, adjacent to the side of the vehicle, can prevent lateral collisions when maneuvering along an elongated object.

[0023] Alternatively, the non-optical collision warning system can be combined with an optical system: A multitude of sectors distributed around the vehicle, and in particular adjacent to the vehicle, can be defined, preferably having a fixed size. After an object is detected in one of the sectors, information about this detection can be optically output by means of an optical output device of the vehicle, for example on a display. For the additional monitoring area, at least one of the existing sectors of the optical system can then be selected, whereby the additional monitoring area is defined as a sub-area of ​​the selected sector.To determine the monitoring area, an optical system is used in which several sectors, particularly of fixed size, are defined around the vehicle. Objects detected in these sectors are displayed optically on an optical output device, such as a screen. This system is also used to determine the monitoring area by selecting one of the sectors and defining the additional monitoring area as a sub-region of the selected sector. This combination of the non-optical collision warning system with the optical system has the advantage that the existing sensors of the optical system and the already defined sectors can be used to detect objects within the monitoring area.

[0024] According to the invention, the additional monitoring area is defined as a sub-area of ​​the selected sector up to a distance value from the vehicle, which is set depending on the current steering angle. Preferably, the larger the current steering angle, the larger the distance value and thus the larger the monitoring area. At a larger steering angle, a greater distance from the vehicle is monitored than at a smaller steering angle. This represents a reliable compromise for the frequency of the non-visual warning signal.

[0025] Preferably, the selection of at least one sector can also be made depending on the current steering angle. This can be done, for example, by selecting a sector on the right side of the vehicle's central longitudinal axis when the vehicle's wheels are turned to the left, while selecting a left sector when the wheels are turned to the right. This allows the corner area of ​​the vehicle that is exposed to a potential collision with an external object to be protected.

[0026] The invention also relates to a collision warning system for warning the driver of a motor vehicle of a collision hazard, comprising a detection device for detecting an object external to the vehicle, comprising a non-optical output device for issuing a non-optical warning signal, and comprising a control device designed to determine a virtual driving path depending on a current steering angle of the motor vehicle and to control the output device for issuing the non-optical warning signal taking into account objects detected within the driving path.The control unit is designed to define a virtual monitoring area in a corner area of ​​the vehicle in addition to the driving tube and to activate the output device to issue the non-optical warning signal even in the absence of an object within the driving tube, if the detection device detects an object within the additional monitoring area.

[0027] A motor vehicle according to the invention, in particular a passenger car, comprises a collision warning system according to the invention.

[0028] The preferred embodiments and their advantages presented with reference to the method according to the invention apply accordingly to the collision warning system according to the invention and to the motor vehicle according to the invention.

[0029] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. All features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the description of the figures and / or shown in the figures alone, are usable not only in the combinations specified, but also in other combinations or individually.

[0030] The invention will now be explained in more detail with reference to individual preferred embodiments and the accompanying drawings.

[0031] They show: Fig. 1 in schematic representation a motor vehicle with a collision warning system according to an embodiment of the invention; Fig. 2 and Fig. 3 schematically represents the motor vehicle, and a method according to a first embodiment of the invention is explained in more detail; and Fig. 4 in schematic representation the motor vehicle, wherein a method according to a second embodiment of the invention is explained in more detail.

[0032] A in Fig. The motor vehicle 1 shown in Figure 1 is, for example, a passenger car. The motor vehicle 1 includes a collision warning system 2, which is designed to warn the driver of a possible collision with objects external to the vehicle. The collision warning system 2 includes a detection device 3, which, for example, has a plurality of distance sensors 4, in particular ultrasonic sensors, which are distributed across both the front and rear of the motor vehicle 1. At least one distance sensor 4 is located on a left side 5. Similarly, at least one distance sensor 4 is located on a right side 6 of the motor vehicle 1. Optionally, the detection device 3 can also include at least one camera 7, which provides images of the area surrounding the motor vehicle 1. A front camera and / or a rear-view camera can be used.

[0033] The collision warning system 2 also includes a control unit 8, which receives the sensor data from the detection unit 3. The control unit 8 may include a digital signal processor for processing the sensor data. The control unit 8 controls a non-optical output device 9, which may include, for example, a loudspeaker and / or a haptic output device or a haptic actuator. Optionally, the control unit 8 may also be coupled with an optical output device 10, which is designed in particular as a display. The control unit 8 then also controls this optical output device 10.

[0034] The control unit 8 also receives information about the current steering angle of the vehicle 1 from a steering angle sensor 11. The steering angle sensor 11 can, for example, be a sensor that detects the current steering wheel angle and / or the current position of a tie rod of the vehicle 1. The control unit 8 thus knows the instantaneous steering angle of the vehicle 1.

[0035] The focus now shifts to the output of a warning signal 12 perceptible to the driver by means of the non-optical output device 9, for example an acoustic tone and / or a haptic signal. Referring now to Fig. 2. Depending on the current steering angle and taking into account vehicle dimensions stored in a memory, the control unit 8 can determine a driving lane 13, i.e., a predicted trajectory that the vehicle 1 would travel at the current steering angle. The driving lane 13 is laterally bounded by two boundary lines 14, 15, the curvature of which essentially corresponds to the curve radius of the curve traversed by the vehicle 1. The width 16 of the driving lane 13, measured in the transverse direction y of the vehicle, is greater than the actual width of the vehicle 1 when the wheels are turned and is dimensioned such that collision-free passage of the vehicle 1 through the driving lane 13 is only possible if there are no objects or obstacles within the driving lane 13. The curvature of the driving lane 13 depends directly on the current steering angle.

[0036] In the prior art, only objects located within the lane 13 are considered for the output of the non-optical warning signal 12. When maneuvering the motor vehicle 1 backwards along an elongated object 17 extending along the vehicle's longitudinal direction x, for example along a wall or another vehicle, a region 18 of this object 17 is thus not considered in the prior art, which is located in a front corner region 19 (in the embodiment according to Fig. 2 in the front left corner area) of the motor vehicle 1. Since this area 18 lies outside the driving lane 13, a collision with object 17 may occur in the prior art.

[0037] It is therefore proposed to establish an additional monitoring area 20 (hatched area in Fig. 2) to define in the corner area 19 of the motor vehicle 1. This monitoring area 20 is preferably defined on the side of the motor vehicle 1 from which the turned wheels of the motor vehicle 1 are directed away. Viewed in the longitudinal direction x, the monitoring area 20 is defined on the side of the motor vehicle 1 from which the current direction of travel is directed away. The monitoring area 19 preferably borders the side flank 5 or 6 of the motor vehicle 1.

[0038] In the exemplary embodiment according to Fig. 2. The monitoring area 20 is a rectangular area next to the motor vehicle 1. The width 21 of the monitoring area 20, measured in the transverse direction y of the vehicle, is determined depending on the current steering angle. The larger the current steering angle, the larger the width 21 of the monitoring area 20. A monitoring area 20 for a smaller steering angle is defined as follows: Fig. Figure 3 illustrates this. It can also be provided that the monitoring area 20 is only defined or considered for the output of the non-optical warning signal 12 if the steering angle exceeds a predefined limit. Below this limit, the width 21 of the monitoring area 20 can be set to zero.

[0039] If monitoring area 20 is defined, objects located within monitoring area 20 are also considered for the output of the non-optical warning signal 12. If an object 17 is detected within monitoring area 20, the non-optical warning signal 12 is output.

[0040] An alternative embodiment is in Fig. Figure 4 illustrates this. To define the monitoring area 20, the optical output device 10 system is used, in which a plurality of virtual sectors 22 to 27 are defined for the vehicle 1. These sectors are adjacent to the vehicle 1, to each other, and distributed around the vehicle 1. For example, one such sector 22 to 27 can be defined for each distance sensor 4. The optical output on the output device 10 can, for example, include an image of the vehicle 1 with an optical representation of sectors 22 to 27. If an object 17 is then detected in one of the sectors 22 to 27, this sector 22 to 27 can be optically highlighted. The number of sectors 22 to 27 is specified in Fig.4 is shown only as an example and can, in principle, be arbitrary. Such sectors 22 to 27 can also be defined as the rear area of ​​the motor vehicle 1, or it is also possible that such sectors 22 to 27 are distributed completely around the motor vehicle 1.

[0041] To define the monitoring area 20, one of the sectors 22 to 27 is selected, for example, sector 22. The monitoring area 20 (hatched area) is defined as a sub-area of ​​the selected sector 22 up to a distance value 28 from the vehicle 1, which is set primarily based on the current steering angle. The size of the monitoring area 20 therefore depends on the current steering angle. If an object 17 is detected within this monitoring area 20, the non-optical warning signal 12 is also issued.

[0042] The selection of sector 22 to 27, in which monitoring area 20 is defined, and thus the determination of the position of monitoring area 20, is also dependent on the current steering angle. For example, when reversing with the wheels turned to the left, one of the right sectors 25 to 27 can be selected. If the wheels are turned to the right, one of the left sectors 22 to 24 can be selected.

Claims

[1] Method for warning the driver of a motor vehicle (1) of a collision hazard by issuing a non-optical warning signal (12) by means of a collision warning system (2) of the motor vehicle (1), wherein the collision warning system (2) detects a current steering angle of the motor vehicle (1) and, depending on the current steering angle, determines a virtual driving path (13) which the motor vehicle (1) is expected to travel through at the current steering angle, and wherein objects (17) detected within the driving path (13) are taken into account by the collision warning system (2) for issuing the non-optical warning signal (12), where In addition to the driving tube (13), a virtual monitoring area (20) is defined in a corner area (19) of the motor vehicle (1), and the non-optical warning signal (12) is also issued in the absence of an object (17) within the driving tube (13) if an object (17) is detected within the additional monitoring area (20) by the collision warning system (2), and wherein a plurality of sectors (22, 27) distributed around the motor vehicle (1), in particular of fixed size, are defined for the motor vehicle (1), and after detection of an object (17) in one of the sectors (22, 27), information about this detection is optically output by means of an optical output device (10) of the motor vehicle (1), wherein at least one of the sectors (22, 27) is selected for the additional monitoring area (20), and the additional monitoring area (20) is defined as a sub-area of ​​the selected sector (22, 27). characterized by, that the additional monitoring area (20) is defined as a sub-area of ​​the selected sector (22, 27) up to a distance value (28) from the motor vehicle (1), which is set depending on the current steering angle. [2] Method according to claim 1, characterized by , that the additional monitoring area (20) is determined depending on the current steering angle. [3] Method according to claim 2, characterized by , that the additional monitoring area (20) is determined or taken into account for the output of the non-optical warning signal (12) only if the current steering angle is greater than a specified limit value. [4] Method according to claim 2 or 3, characterized by , that at least one dimension (21, 28) of the additional monitoring area (20) and / or a position of the additional monitoring area (20) is / are determined depending on the current steering angle. [5] Method according to any one of the preceding claims, characterized by , that the detection of the object (17) within the additional monitoring area (20) is carried out by means of a distance sensor (4) arranged on a side flank (5, 6) of the motor vehicle (1). [6] Method according to any one of the preceding claims, characterized by , that the additional monitoring area (20) is taken into account at least when the motor vehicle (1) is reversing in order to issue the non-optical warning signal (12). [7] Method according to any one of the preceding claims, characterized by , that the monitoring area (20) is defined as an area adjacent to a side flank (5, 6) of the motor vehicle (1), in particular a rectangular area. [8] Method according to claim 7, characterized by , that a width (21) of the monitoring area (20) measured in the transverse direction (y) of the vehicle is set depending on the current steering angle. [9] Method according to claim 1, characterized by , that the selection of at least one sector (22, 27) is dependent on the current steering angle. [10] Collision warning system (2) for warning the driver of a motor vehicle (1) of a collision hazard, comprising a detection device (3) for detecting an object (17) external to the vehicle, a non-optical output device (9) for issuing a non-optical warning signal (12), and a control device (8) designed to determine, depending on the current steering angle of the motor vehicle (1), a virtual driving path (13) which the motor vehicle (1) is expected to travel through at the current steering angle, and to control the output device (9) for issuing the non-optical warning signal (12) taking into account objects detected within the driving path (13), where the control device (8) is designed to define, in addition to the driving tube (13), a virtual monitoring area (20) in a corner area (19) of the motor vehicle (1) and to activate the output device (9) to output the non-optical warning signal (12) even in the absence of an object (17) within the driving tube (13) when the detection device (3) detects an object (17) within the additional monitoring area (20), wherein a plurality of sectors (22, 27) distributed around the motor vehicle (1), in particular of fixed size, are defined for the motor vehicle (1), and after detection of an object (17) in one of the sectors (22, 27), information about this detection is optically output by means of an optical output device (10) of the motor vehicle (1), wherein at least one of the sectors (22, 27) is defined for the additional monitoring area (20).27) is selected and the additional monitoring area (20) is determined as a sub-area of ​​the selected sector (22, 27), characterized by , that the additional monitoring area (20) is determined as a sub-area of ​​the selected sector (22, 27) up to a distance value (28) from the motor vehicle (1), which is set depending on the current steering angle. [11] Motor vehicle (1) with a collision warning system (2) according to claim 10.

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