Driver assistance system for detecting a collision partner that cannot be detected by sensors

Abstract

Method for detecting a potential collision partner (1) that cannot be detected by sensors for a first means of transport (2), comprising the steps: - sensor-based detection (200) of a road user (3), - Analyzing (300) the environment of the road user (3), - Analyzing (400) the behavior of the road user (3), and in response - Detection (500) of the potential collision partner (1).

Description

[0001] The present invention relates to a driver assistance system and a method for detecting a potential collision partner that cannot be detected by sensors for a first means of transport. In particular, the present invention relates to a possibility for the indirect detection of optically concealed potential collision partners.

[0002] A variety of differently functioning driver assistance systems are known in the state of the art, which evaluate either communication signals from other road users (car-to-car communication) or sensor signals in order to collect information about the traffic situation and process it for the driver. For example, radar sensors, ultrasonic sensors, lidar sensors, laser scanners and other devices for environmental sensing have proven successful. Particularly in densely built-up areas, at intersections, collision partners may be located behind objects and therefore outside the detection range of a vehicle's environmental sensors. Furthermore, models are known in the state of the art that evaluate a driver's situational awareness in order to issue warning signals as part of driver assistance functions only when the driver has most likely incorrectly assessed the situation.

[0003] DE 10 2005 042 989 B3 discloses a method for the early detection of an impending accident involving a vehicle traveling ahead. The variation of the vehicle angle of the vehicle traveling ahead over time is recorded, and this is then used to evaluate the impending accident. An accident is determined if the temporal variation of the vehicle angle of the vehicle traveling ahead exceeds a certain threshold.

[0004] DE 102 41 134 A1 relates to a device for radio-based hazard warning of the driver of a vehicle with a data receiving device, wherein the data receiving device receives data from at least one data transmitting device of at least one other vehicle and evaluates the received data in a computer unit, wherein the received data comprise information about the position, speed, and direction of travel of the transmitting vehicle. According to the invention, a relevance measure is determined in the receiving vehicle from the received data of the transmitting vehicle and from information about the position of the receiving vehicle, from speed data, and direction of travel data of the receiving vehicle, as to whether the transmitting vehicle is located on a section of road ahead of the receiving vehicle. A temporal progression of the relevance measure is determined by repeatedly determining the relevance measure.

[0005] DE 10 2004 049 870 A1 relates to a method and a device for improving the visibility of drivers of motor vehicles which are provided with receiving devices and display devices for image data, wherein the images from a respective other vehicle driving ahead, which is equipped with at least one video camera aligned in the direction of travel and a transmitting device for the image data generated by the at least one video camera, are received and displayed by the receiving device and display device.

[0006] DE 10 2010 015 686 A1 relates to a method for operating a motor vehicle, in which the motor vehicle receives measurement data obtained from another motor vehicle and processes it in order to generate control commands.

[0007] The aforementioned prior art solutions fall short of theoretical possibilities. It is an object of the present invention to satisfy the above-identified need.

[0008] To achieve the above-mentioned object, the invention proposes a method for detecting a potential collision partner that cannot be detected by sensors for a first means of transport. Furthermore, a driver assistance system configured to implement the method is proposed.

[0009] The first means of transport can be, for example, a road vehicle, preferably a car or a truck. In a first step, a road user is detected by the sensors of the first means of transport. In particular, the road user is within sight of the first means of transport. The road user's surroundings are then analyzed, which can also be done, for example, based on signals detected by environmental sensors. Digital maps can also be used, which allow conclusions to be drawn about the traffic regulations in the road user's surroundings. Alternatively or additionally, corresponding information can also be provided by the detected road user. The road user's behavior is then analyzed. In other words, it is determined whether the road user is behaving / moving in accordance with their rights and obligations.A comparison can now be made between the (objectively determined) rights and obligations and the additionally determined behavior of the road user. If a discrepancy arises, it can be concluded that the road user has additional information that determines their behavior. For example, this could be the detection of a potential collision partner who is located behind a barrier for the first means of transport. Alternatively, the potential collision partner could be outside the detection range of a sensor of the first means of transport. In response, the potential collision partner can also be recognized as relevant for the first means of transport, even though the vehicle's own sensors cannot detect the collision partner itself.In this case, it is preferably excluded that there is any other motive for the behavior of the road user than the presence of a potential collision partner. In this way, the present invention offers a possibility of further completing the image of an environment for the first means of transport and therefore making its operation safer.

[0010] The road user's preferred behavior is one of waiting. In other words, the road user waits even though the traffic situation, from the perspective of the first means of transport, would apparently allow continued travel (i.e., based on the location of the available primary information). In such a situation, the road user's field of vision can also be examined to determine whether the road user is concentrating on the traffic situation and, if so, whether they are correctly assessing the situation. This then prevents a warning from being issued due to the road user's waiting if they have not correctly recognized their opportunity to continue driving.

[0011] The method according to the invention further preferably comprises sensory detection and recognition of a blockage, which prevents sensory detection of a collision partner potentially located behind the blockage. In other words, for an object located in the vicinity of the first means of transport, it is determined that, on the one hand, potential collision partners behind the object cannot be detected by sensors and, on the other hand, the potential collision partners located behind the object may be relevant for the onward travel of the first means of transport. Only when both conditions are met should a warning of an undetectable potential collision partner be issued. The output of unnecessary warning signals, for example due to inattentive road users, is thus prevented.

[0012] If the first means of transport has a visual display device that can provide the driver of the first means of transport with information about collision objects in the vicinity of the first means of transport, an image of the surroundings of the first means of transport can be displayed on it, and the display can indicate a potential source of danger in the area of the image. For example, the blockage itself can be visually highlighted, or (depending on the size of the blockage) an exit area for the potential collision partner from the "shadow" of the blockage can be marked. This creates a better connection between the issued warning and any necessary maneuvers / actions for the driver of the first means of transport.

[0013] If the primary means of transport is equipped with a so-called head-up display, which can project visual images into the vehicle's field of vision (e.g., the windshield), the position of the potential collision partner or blockage can even be visually highlighted in the driver's field of vision using the head-up display. Preferably, this involves an evaluation (e.g., sensory) of the driver's perspective of the blockage and the corresponding positioning of the visual warning.

[0014] According to a second aspect of the present invention, a driver assistance system with environmental sensors is proposed. All physical operating principles known in the prior art for environmental sensors are suitable for the environmental sensors, including the transmission of position and environmental data via ITS-G5 or an existing mobile radio connection, for example, between vehicles, vehicles and infrastructure sensors, vehicles, servers, and mobile devices.

[0015] In addition, the driver assistance system comprises an evaluation unit, whereby it is configured to carry out the method according to the first aspect of the invention described above. For example, the driver assistance system can also have access to a digital database that provides information about the current traffic regulation. This can be used as a reference for assessing the behavior of the other road user. The features, feature combinations, and the resulting advantages correspond to those explained in connection with the method described above, so that reference is made to them to avoid repetition.

[0016] According to a third aspect of the present invention, a driving robot is proposed which, in addition to the environmental sensors and the evaluation unit, comprises an actuator by means of which the driving robot can independently intervene in the longitudinal and / or lateral guidance of the means of transport. According to the invention, what was stated in connection with the driver assistance system applies accordingly to the driving robot, so that the interventions in the longitudinal and / or lateral guidance of the means of transport can be adapted in response to the detection of the potential collision opponent. Reference is also made to the above statements regarding the features, the combinations of features, and the advantages resulting from them.

[0017] According to a fourth aspect of the present invention, a means of transportation (e.g., a road-legal vehicle in the form of a car / truck) is proposed, which comprises a driver assistance system according to the second aspect of the invention and / or a driving robot according to the third aspect of the invention. In this way, the means of transportation according to the invention also implements the features, combinations of features, and advantages according to the above statements.

[0018] Further details, features, and advantages of the invention will become apparent from the following description and the figures. They show: Fig. 1 a traffic situation which becomes safer through application of the present invention; Fig. 2 a schematic view of components of an embodiment of a means of transport according to the invention; and Fig. 3 a flowchart illustrating steps of an embodiment of a method according to the invention.

[0019] Fig. Figure 1 shows a T-junction at which a car 2, as the first vehicle, must yield right of way. A building 4 shades an area 10 for the sensors of car 2. In this area, a cyclist 1 is traveling on a collision course with car 2. To illustrate the trajectories of car 2 and cyclist 1, arrows P1 and P2 are shown, the meeting point of which is adjacent to where cyclist 1 exits the shadow 10 of building 4. In contrast to cyclist 1, another car 3, as a road user, is definitely within the detection range of the sensors of car 2. Because the traffic light 11 is switched to "green," car 3 basically has the option of turning right (along arrow P3). However, cyclist 1 is not shaded by building 4 for car 3.After analyzing the traffic situation, it is therefore possible for car 2 to conclude from the fact that car 3 remains in the position shown that there must be a potential collision opponent behind building 4 that prevents car 3 from continuing its journey. In other words, it is ruled out that there is any other motive for the road user's behavior than the presence of a potential collision partner.

[0020] Fig. 2 shows a schematic overview of components of an embodiment of a means of transport according to the invention in the form of a passenger car 2. The passenger car 2 has an optical camera 6 as an environmental sensor, which is connected for information technology purposes to an electronic control unit 7 as an evaluation unit. Also connected to the electronic control unit 7 are a screen 12 of a driver assistance system 5 for outputting optical warnings to the driver of the passenger car 2 and an actuator 8 of a driving robot 9 provided in the passenger car 2. By means of the components shown, the passenger car 2 is configured to carry out a method as described below in connection with Fig. 3 is explained by way of example.

[0021] Fig.3 shows method steps of an exemplary embodiment of a method according to the invention. In step 100, a blockage is detected by sensors, and it is recognized that this is responsible for the ego vehicle's inability to sense part of the collision-relevant environment. In step 200, however, a road user in the vicinity of the ego vehicle is sensed. In step 300, the road user's surroundings are additionally analyzed. This also includes consulting a digital database for traffic control in the road user's vicinity. Furthermore, traffic lights and traffic signs detected by sensors are taken into account for this purpose. In step 400, the road user's behavior is analyzed. This behavior can, in particular, include waiting or not driving any further on the part of the road user.Insofar as no alternative explanation is found for the behavior of the road user, a potential collision partner is recognized in response to the analysis in step 500. In particular, it can be examined to what extent the potential collision partner is also traveling on a trajectory that is (presumably) relevant to a collision for the ego vehicle. In step 600, an image of the surroundings of the first means of transport is shown on a display unit to warn the driver of the ego vehicle, and in step 700, a potential source of danger is signaled in the area of the image of the blockage or an exit area of the collision partner from the shadow of the same. This can be done, for example, on a display centrally located on the dashboard of the ego vehicle. In addition, in step 800, the position of the potential collision partner orThe area of impact is visually highlighted from the shadow of the blockage on a head-up display in the field of vision of the driver of the ego vehicle. This automatically warns the driver of the ego vehicle of the potentially impending collision, without the collision partner being directly detectable by the ego vehicle's sensors. List of reference symbols: 1 cyclist 2 Ego means of transport 3 cars / road users 4 buildings 5 Driver assistance system 6 Optical Camera 7 Electronic control unit 8 Actuator 9 driving robots 10 shadows 11 traffic light system 12 screen 100 to 800 process steps P1, P2, P3 arrows / trajectories

Claims

[1] Method for detecting a potential collision partner (1) which cannot be detected by sensors for a first means of transport (2), comprising the steps: - sensor-based detection (200) of a road user (3), - analyzing (300) the environment of the road user (3), - Analyzing (400) the behavior of the road user (3), and in response to this - Detection (500) of the potential collision partner (1). [2] Method according to claim 1, wherein the behavior is a waiting of the road user (3). [3] Method according to claim 1 or 2, wherein analyzing the environment of the road user (3) comprises recognizing that there is no sensory-detectable reason for the behavior. [4] Method according to one of the preceding claims further comprising - sensory detection and recognition (100) of a blockage (4) which prevents sensory recognition of a collision partner (1) potentially located behind the blockage (4). [5] Method according to one of the preceding claims, further comprising - displaying (600) an image of the surroundings of the first means of transport (2), and - Signaling (700) a potential source of danger in the area of the image. [6] Method according to one of the preceding claims further comprising - optically highlighting (800) the position of the potential collision partner (1) in the field of vision of a driver of the means of transport (2). [7] Driver assistance system (5) comprehensive - an environmental sensor (6), and - an evaluation unit (7), wherein the driver assistance system (5) is configured to carry out the method according to one of the preceding claims. [8] Driver assistance system (5) according to claim 7, further comprising a wireless communication unit which is configured to exchange position and environmental data with vehicles and / or infrastructure sensors and / or central servers and / or mobile terminals. [9] Driving robot, comprising - an environmental sensor (6), - an evaluation unit (7), and - an actuator (8), wherein - the driving robot (9) is configured to carry out the method according to one of the preceding claims, and - the actuator (8) is configured to adapt the longitudinal guidance and / or transverse guidance of the means of transport (2) in response to the detection of the potential collision opponent (1). [10] Driver assistance system according to claim 7 or 8 or driving robot according to claim 9, wherein the environmental sensor (6) - an ultrasonic sensor, and / or - a radar sensor, and / or - a lidar sensor, and / or - includes an optical sensor. [11] Means of transport, in particular a road vehicle, comprising a driver assistance system (5) according to claim 7, 8 or 10 or a driving robot (9) according to claim 9 or 10.

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