Vehicle comprising a turning assistance device, turning assistance device and method for operating a vehicle

Abstract

Turning assistance device (2) as a retrofit solution for a vehicle (1) for retrofitting the vehicle (1) with the turning assistance device (2), comprising a radar sensor device (3) and a control device (4), wherein the radar sensor device (3) is configured to - to detect an object (10) and its relative position (11) with respect to the vehicle (1) in a predetermined spatial detection area (8) in an external environment of the vehicle (1) according to a predetermined detection method, characterized in that the control device (4) is configured to - to classify the object (10) as a road user (6) using a predetermined classification procedure, and - to issue a warning signal (12) when the object (10) classified as a road user (6) is located in a predetermined spatial danger zone (7) related to the vehicle (1), wherein a warning is only issued if the object (10) in the danger zone (7) is the road user (6), and that the control device (4) is configured to - to determine a relative motion (16) of the object (10) with respect to the vehicle (1) according to a predetermined motion determination procedure, - to classify the object (10) as either a stationary object (17) or a dynamic object (18) using a predetermined determination procedure, and - to determine a movement (19) of the vehicle (1) from the relative movement (16) of at least one object (10) classified as a stationary object (17), so that the turning assistance device (2) can independently determine the movement (19) of the vehicle (1).

Description

[0001] The invention relates to a turning assistance device.

[0002] A vehicle's side mirrors only allow the driver to see a limited area to the side of the vehicle. This leaves a blind spot, an area that cannot be seen. This blind spot can lead to road users in the blind spot being overlooked by the driver, potentially endangering them during turning maneuvers. Vulnerable road users are particularly at risk. These include pedestrians and cyclists, who are especially vulnerable in traffic due to the lack of a vehicle body.

[0003] In addition to providing an extra side mirror that extends the driver's field of vision to at least part of the blind spot, turning assistance systems are being installed, particularly in newer trucks, to monitor the blind spot. These systems use sensors to monitor a specific area next to the vehicle and warn the driver if an object is in a danger zone within that area. To retrofit vehicles with turning assistance systems, aftermarket solutions have been developed that can be attached to the vehicle. These systems typically monitor the blind spot using ultrasonic sensors or cameras to detect objects within the detection area.

[0004] A disadvantage of these solutions is that these turning assistance systems issue a warning signal as soon as an object enters the predetermined danger zone. The systems do not differentiate between road users and other objects. This means that warning signals are also issued, for example, if the vehicle passes an object such as a streetlamp, tree, traffic light, or road barrier in such a way that it enters the danger zone. As a result, many warning signals are based on false alarms. In the long run, this can lead to drivers paying less attention to the warning signals.

[0005] DE 10 2016 001 101 A1 discloses a motor vehicle which has a radar sensor and a control unit designed to carry out a method for detecting and identifying a driving maneuver of a road user using motion data describing the movement of the road user, wherein the driving maneuver is assigned to a driving maneuver class as part of the identification.

[0006] From DE 10 2014 219 110 A1, a driver assistance system for motor vehicles is known. This system includes a turning assistance function which, when a signal is received indicating an impending turning maneuver requiring the crossing of an adjacent lane, monitors the traffic on the adjacent lane using an adjacent lane monitoring function and, depending on the location and speed of road users on the adjacent lane, determines a spatial and temporal window for entering the adjacent lane and adjusts a target speed to this window.

[0007] A system arrangement for providing situation-specific turning assistance in a motor vehicle is known from DE 10 2017 217 852 A1. The system arrangement comprises a detection unit configured to recognize a turning maneuver, a sensor configured to detect the environment in a target direction of the turning maneuver, an analysis unit configured to detect a collision risk by superimposing a likely movement path of the motor vehicle and a likely movement path of a detected object in the environment, and a display unit configured to display only a section of the detected environment that contains the detected object.

[0008] DE 20 2013 008 112 U1 discloses a driver assistance system for a motor vehicle. The driver assistance system comprises an output device configured for issuing turning instructions for turning maneuvers of the motor vehicle, a processing unit, and a computer program. When executed on the processing unit, the computer program instructs the processing unit, among other things, to perform a step of determining whether a turning maneuver of the motor vehicle from a first lane currently being traveled on to a second lane crossing the first lane is imminent, and, if it is determined that a turning maneuver of the motor vehicle is imminent, a step of determining a minimum distance value between the motor vehicle and a road user located on the second lane, wherein the minimum distance value is determined as a function of a classified instantaneous driving behavior of the driver of the motor vehicle.

[0009] A method for determining driving style information relating to the driving style of a driver of a motor vehicle, wherein radar data relating to the surroundings of the motor vehicle are recorded at several recording times by at least one radar sensor of the motor vehicle, is known from DE 10 2016 222 957 A1. It can be provided that, by evaluating the radar data, at least one object stationary with respect to a traveled route is detected and a relative object position and a relative object speed of this object to the motor vehicle are determined, after which the vehicle speed is determined as a function of the object position and the object speed.

[0010] One object of the invention is to reduce the proportion of false alarms in turning assistance devices.

[0011] The problem is solved by the subject matter of independent claim 1. Advantageous embodiments of the invention result from the features of the dependent claims, the following description, and the figures.

[0012] The invention comprises a turning assistance device for a vehicle. The turning assistance device includes a radar sensor and a control unit. The radar sensor is configured to detect an object and its relative position to the vehicle within a predetermined spatial detection area in the vehicle's external environment, according to a predetermined detection method. The control unit is configured to classify the object as a road user using a predetermined classification method and to issue a warning signal when the object classified as a road user is located within a predetermined spatial danger zone relative to the vehicle.

[0013] A vehicle is described that includes a turning assistance device. The turning assistance device comprises a radar sensor and a control unit. The radar sensor is designed to be directed towards a predetermined spatial detection area in the vehicle's external environment. In other words, the radar sensor is positioned on the vehicle such that it points towards the detection area. The detection area is a space relative to the vehicle. This area can, for example, include the so-called blind spot. The radar sensor is configured to detect an object and its relative position to the vehicle within the spatial detection area.In other words, the radar sensor system is designed to detect the presence of an object within its detection range and to determine its position. Object detection can be achieved, for example, using a predefined detection method, such as evaluating measurement points that describe the respective positions of reflection points within the detection range. The control unit of the turning assistance system is designed to classify the object as a road user using a predefined classification method. This classification method can, for example, involve recognizing the object's outline and comparing it to predefined outline patterns. The classification method can be based on a machine learning method, such as an artificial neural network.The control unit is designed to determine, using a classification procedure, whether the object is a road user or not. The road user could be, for example, a pedestrian or a cyclist.

[0014] The control unit is designed to issue a warning signal when an object classified as a road user is located within a predetermined spatial danger zone related to the vehicle. Therefore, if it is detected that an object is within the danger zone, and the classification procedure additionally indicates that the object is a road user, the warning signal can be generated. In other words, the control unit is designed to issue the warning signal when the object is a road user located within the vehicle's predetermined danger zone. This predetermined spatial danger zone can, for example, include the blind spot or a predetermined area adjacent to the vehicle, which is referenced to the vehicle.

[0015] The invention offers the advantage that the driver is only warned if the object in the danger zone is a road user. This reduces the number of false alarms.

[0016] The invention also includes further developments that result in additional advantages.

[0017] The invention provides that the control unit is configured to determine the relative motion of the object with respect to the vehicle according to a predetermined motion determination method. In other words, the control unit is configured to determine the relative motion of the object, using the vehicle as a reference point for the object's motion. The motion determination method can, for example, include tracking the object's relative position over several individual measurements at predetermined intervals, also known as tracking. The motion can include a velocity and / or a direction. The control unit is configured to classify the object as either a stationary object or a dynamic object using a predetermined determination method.In other words, the control unit is designed to distinguish between a stationary object and a dynamic object. A stationary object could be, for example, a traffic sign, a building, a road edge, or any other fixed object, also referred to as a background object. A dynamic object could be, for example, a moving road user or any other object whose position changes relative to its surroundings. The determination method can be based on a comparison of the relative movements of the objects. The control unit is designed to determine the vehicle's movement from the relative movement of at least one object classified as a stationary object.In other words, the control unit uses the relative motion of at least one stationary object to determine the vehicle's motion relative to its surroundings. This means the turning assistant can independently determine the vehicle's motion. For example, it is not necessary to connect the turning assistant to the vehicle's network to retrieve information such as its speed.

[0018] A further development of the invention provides that the control unit is configured to identify a predetermined vehicle maneuver in the vehicle's movement by means of a predetermined tracking procedure and to issue an enhanced warning signal if, at the time of identification of the maneuver, the object classified as a road user is located within the predetermined spatial danger zone. In other words, the control unit is configured to perform the predetermined tracking procedure to detect whether the predetermined maneuver is being carried out by the vehicle. The tracking procedure can include monitoring the vehicle's movement and detecting the predetermined maneuver based on predetermined movement characteristics. In other words, the control unit is configured to detect whether the vehicle is performing the predetermined maneuver.The control unit is designed to issue an enhanced warning signal if, at the time of the maneuver, a road user is within the predetermined spatial danger zone. This enhanced functionality offers the advantage of issuing a further warning signal if there is an increased risk to the road user. For example, the predetermined maneuver might be a turning maneuver. If the control unit detects that the vehicle is performing a turning maneuver and, for instance, a cyclist is within the danger zone, the enhanced warning signal can be issued, perhaps to provide an audible warning to the driver.

[0019] A further development of the invention provides that the control unit is configured to output the extended warning signal when a collision is predicted by the control unit based on the movement of the vehicle and / or the relative movement of the object classified as a road user. In other words, the control unit is configured to output the extended warning signal when the vehicle and the road user are on a collision course. This offers the advantage that a warning is also issued when a collision between the road user and the vehicle is predicted by the control unit. For example, the control unit may perform an extrapolation procedure based on the current movement of the vehicle and / or the relative movement of the road user to determine their future trajectories.For example, if the relative movement of a road user next to the vehicle indicates that they are driving straight ahead while the vehicle is turning right, and the predicted routes are therefore intersecting, the control unit can issue the extended warning signal.

[0020] A further development of the invention provides that the classification method includes classifying the object using a Doppler profile. In other words, it is provided that a Doppler profile is generated for the detected object by the control unit as part of the classification method. A Doppler profile can, for example, describe the movement or frequency deviation of individual objects associated with the object. The Doppler profile can be compared with stored Doppler profiles, which can, for example, depict typical Doppler profiles of a pedestrian or a cyclist. By comparing the object's Doppler profile with the stored Doppler profiles, it can be determined whether the detected object is a road user. This further development offers the advantage that the object can be characterized using information that can be acquired via radar beams.This eliminates the need for additional detection methods besides radar to identify road users. As a result, so-called multi-sensor methods can be replaced by a method limited to a single sensor type. In particular, by detecting frequency deviations of the reflected radar beams, it is possible to identify the road user with a single measurement.

[0021] A further development of the invention provides that the control unit is configured to send the warning signal and / or the extended warning signal to the vehicle's network. In other words, the control unit is configured to output the warning signals to the vehicle's network. This offers the advantage that, for example, a visual warning to the driver can be issued via the vehicle's own output devices. It can also be provided that the warning signals are used to control vehicle-integrated driver assistance systems, for example, to intervene in the longitudinal and / or lateral control of the vehicle.

[0022] A further development of the invention provides that the control unit is configured to output the warning signal and / or the extended warning signal to a warning device of the turning assistance system, e.g., by transmitting it. The warning device is configured to output an acoustic or optical signal upon receiving the warning signal and / or the extended warning signal. In other words, the turning assistance system includes the warning device configured to output the acoustic or optical signal. This offers the advantage that the turning assistance system provides a means of warning the driver. Thus, the possibility of warning the driver does not depend on the vehicle providing an output device. The warning device can, for example, include a screen and / or a loudspeaker and be designed for installation in the vehicle's driver's cab.

[0023] A method for operating a vehicle equipped with a turning assistance device is described. The method involves a radar sensor unit of the turning assistance device detecting an object and its relative position to the vehicle within a predetermined spatial detection area in an external environment, according to a predetermined detection procedure. A control unit of the turning assistance device classifies the object as a road user using a predetermined classification procedure. The turning assistance device then issues a warning signal if the object classified as a road user is located within a predetermined spatial danger zone relative to the vehicle.

[0024] The invention also includes combinations of the features of the described embodiments.

[0025] An embodiment of the invention is described below. The following is shown: Fig. 1. A vehicle in a top view; Fig. 2 the course of a procedure for operating the vehicle; Fig. 3. a sequence of a procedure for determining a movement of the vehicle; and Fig. 4 the vehicle with two radar sensor devices.

[0026] The embodiment described below is a preferred embodiment of the invention. In this embodiment, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by other features of the invention already described.

[0027] In the figures, functionally identical elements are each provided with the same reference symbols.

[0028] Fig. Figure 1 shows a vehicle 1. The vehicle 1 can be, in particular, a passenger car or a truck. The vehicle 1 can have a turning assistance device 2. The turning assistance device 2 can include a radar sensor 3, a control unit 4, and a warning device 5. The turning assistance device 2 can, for example, be provided as a so-called retrofit solution. Therefore, it is possible that the vehicle 1 may have been retrofitted with the turning assistance device 2. The turning assistance device 2 can be configured to detect road users 6 in a predetermined danger zone 7 and, in this case, to send a warning signal 12.

[0029] The radar sensor device 3 can, for example, be attached to the outside of the vehicle 1 by means of a bracket. The radar sensor device 3 can be attached to the vehicle 1 in such a way that it is directed towards a predetermined spatial detection area 8 in the vehicle 1's external environment. The radar sensor device 3 can emit radar beams into the detection area 8 and receive reflected radar beams from the detection area 8. The radar sensor device 3 can be spatially capable of detecting individual measurement points 9. The measurement points 9 can be reflection points at which the radar beams emitted by the radar sensor device 3 have been reflected. A measurement point 9 can be assigned a three-dimensional position relative to the vehicle 1 by the radar sensor device 3.The radar sensor device 3 can be configured to detect objects 10 located within the detection range 8. The detection of the objects 10 can be achieved, for example, by identifying them in clusters of measurement points 9, also known as data clouds. The radar sensor device 3 can be configured to determine the relative position 11 of each object 10 with respect to the vehicle 1. In other words, the radar sensor device 3 can be configured to determine the relative position 11 of the object 10 in relation to the vehicle 1.

[0030] The control unit 4 can be configured to classify objects 10 as road users 6 using a predetermined classification procedure. In other words, the control unit 4 can determine, using the classification procedure, whether an object 10 is a road user 6 or not. Road users 6 can be defined, for example, as pedestrians or cyclists. The classification procedure can, for example, classify object 10 as a road user 6 using so-called Doppler profiles. This can mean that when individual measurement points 9 of an object 10 are recorded, the movements of these measurement points 9 relative to each other can be evaluated.This can include, for example, an evaluation of the movement or position of the measurement points of an object 10 in relation to other measurement points 9 of the object 10, or a comparison of the frequency deviations caused by the Doppler effect between radar beams reflected by the respective measurement points 9. If the object 10 is a pedestrian or a cyclist, a characteristic movement of individual measurement points 9 of the object 10 can be detected by the radar sensor device 3 by tracking the measurement point 9 over several measurements. This characteristic movement can, for example, be a uniform movement superimposed on a sinusoidal oscillation. The sinusoidal oscillation can, for example, be attributed to the movement of a bicycle pedal or a leg of the road user 6. Road users 6 can thus be detected by the presence of this sinusoidal oscillation.The predetermined danger zone 7 can be defined in relation to the vehicle 1. If an object 10 classified as a road user 6 is located in the danger zone 7, the control unit 4 may be configured to issue a warning signal 12. The warning signal 12 can be transmitted, for example, by the control unit 4 to the warning device 5 of the turning assistance system 2 or to a vehicle network 13 of the vehicle 1. The transmission can be via cable or radio. The warning device 5 may, for example, include a screen or a loudspeaker. The warning device 5 may be configured to issue a visual and / or audible warning signal 14 upon receiving the warning signal 12 in order to warn the driver.

[0031] The vehicle network 13 can be, for example, a CAN bus, a LIN bus, or a comparable vehicle network of vehicle 1. The warning signal 12 can, for example, be received by a control unit 15 of vehicle 1. The control unit 15 of vehicle 1 can then issue a visual and / or audible warning via an output unit of vehicle 1. Alternatively, the control unit 15 can intervene in the guidance of vehicle 1 by means of a driver assistance device. For example, it may be provided that a brake of vehicle 1 is applied when a road user 6 is detected in the danger zone 7. The control unit 4 may be configured to determine a relative movement 16 of object 10 using a predetermined motion determination procedure.An object 10 can be classified using a predetermined classification procedure. This can mean that the classification procedure determines whether the respective object 10 is a stationary object 17 or a dynamic object 18. An object 10 can be either a stationary object 17 or a dynamic object 18. The stationary object 17 can be defined by the fact that it is fixed in position. The dynamic object 18 can be a moving object 10.

[0032] From the relative motion 16 of at least one object 10 categorized as a stationary object 17, the control unit 4 can determine a motion 19 of the vehicle 1. The control unit 4 can be configured to identify a predetermined driving maneuver 20 of the vehicle 1 during motion 19 by means of a predetermined tracking procedure. For example, it can be provided that the motion 19 of the vehicle 1 is tracked by the control unit 4 and is detected by the control unit 4 when the vehicle 1 performs the predetermined maneuver 20. The predetermined maneuver 20 can, for example, be a turn by the vehicle 1. The identification of the driving maneuver 20 can be achieved, for example, by detecting a rotation or a characteristic acceleration behavior of the vehicle 1.

[0033] The control unit 4 may be configured to issue an enhanced warning signal 21 when it detects that the predetermined driving maneuver 20 is being performed and a road user 6 is simultaneously located in the predetermined danger zone 7. Upon receiving the enhanced warning signal 21, the warning device 5 may issue an audible or visual signal that differs from that of the simple warning signal 12. The control unit 4 may also be configured to issue the enhanced warning signal 21 if a collision is predicted based on the movement 19 of the vehicle 1 and the relative movement 16 of the road user 6. This can be predicted, for example, if the predicted paths of the road user 6 and the vehicle 1 overlap.

[0034] Fig. Figure 2 shows the course of a procedure for operating a vehicle 1. It may be provided that in a first step S1 the object 10 is detected in the detection area 8 by the radar sensor device 3.

[0035] If the control unit 4 detects that object 10 is located in the predetermined danger zone 7, the classification procedure S2 can be started to determine whether object 10 is a road user 6. This can be done, for example, by evaluating the Doppler profile of object 10.

[0036] If object 10 is identified as road user 6, the control unit 4 can generate the warning signal 12 in step S3 and transmit it, for example, to the warning device 5. Upon receiving the warning signal 12, the warning device 5 can, for example, output a visual signal, such as the illumination of a lamp.

[0037] In a further step S4, the control unit 4 can check whether the vehicle 1 is performing the predetermined driving maneuver 20, which could be, for example, a turning maneuver. If the driving maneuver 20 is detected in the movement of the vehicle 1, the control unit 4 can issue the extended warning signal 21 and transmit it, for example, to the warning device 5 (step S5). The warning device 5 can then issue a different warning than when receiving the warning signal 12. The warning can, for example, additionally include an acoustic signal to more clearly alert the driver to a potential hazard.

[0038] Fig. Figure 3 shows a sequence of steps for determining the movement of vehicle 1. In a first step P1, the control unit 4 can classify the objects 10, whereby each object can be classified either as a dynamic object 18 or as a stationary object 17. This can be done, for example, by evaluating the movements 16 of the individual objects 10 relative to each other.

[0039] In a second step P2, monitoring of the relative positions 11 of the respective objects can be initiated. The relative positions 11 of the stationary objects 17 can be temporarily stored.

[0040] In a third step P3, after a predetermined time, the relative positions 11 of the stationary objects 17 can be determined again.

[0041] In step P4, the relative motion 16 of the stationary objects 17 with respect to the vehicle 1 can be determined by comparing their relative positions 11 before and after the predetermined time. The motion 19 of the vehicle 1 can then be determined from the change in position of the stationary objects 17.

[0042] Fig. Figure 4 shows the vehicle 1 with two radar sensor devices 3. The radar sensor devices 3 can each have detection ranges 8 that may differ from one another. The detected objects 10 of both radar sensor devices 3 can be evaluated by the same control unit 4 of the turning assistance device 2.

[0043] Current retrofittable turning assistance systems primarily use ultrasonic sensors or cameras to detect objects in the side area of ​​the vehicle and then warn the driver. Warnings are issued for every object. There is no differentiation between an object and a pedestrian or cyclist. Therefore, the number of false warnings is relatively high, as the driver is also warned about irrelevant objects (for example, when passing a streetlamp, tree, traffic light, road barrier, or similar objects). The invention comprises a turning assistance system 2, based on the radar sensor unit 3, which is designed to enable the retrofitting of medium and heavy commercial vehicles with a turning assistance system. The turning assistance system 2 can include the radar sensor unit 3, a display unit with an acoustic warning function, a wiring harness, and an external sensor mount.The radar sensor unit 3 can monitor the laterally prescribed detection area 8 to the right of the vehicle 1. If a pedestrian or cyclist is located in this detection area 8 or in the danger zone 7, an acoustic and / or visual warning can be issued to the driver via the warning device 5 before turning (potential collision). Unlike previous retrofittable turning assistance systems, the described turning assistance system 2 only warns of relevant pedestrians and cyclists. This leads to a significant reduction in false warnings. Furthermore, the aforementioned radar sensor unit 3 can be operated without any modification to the vehicle's electronics. This results in simple installation and retrofitting. The turning assistance system 2 can be used for trucks, buses, trams, or trains.On railway trains, the turning assistance device 2 can monitor passengers boarding and alighting before departure. The turning assistance device 2 can comprise several radar sensor units 3. This can be particularly advantageous for larger vehicles or in cases of stricter regulations (ECE), thereby increasing the laterally monitored detection range 8.

[0044] Overall, this example demonstrates how the invention can provide a radar-based turning assistance device as a retrofit solution for vehicles.

Claims

[1] Turn assist device (2) as a retrofit solution for a vehicle (1) for retrofitting the vehicle (1) with the turn assist device (2), comprising a radar sensor device (3) and a control device (4), wherein the radar sensor device (3) is configured to - to detect an object (10) and its relative position (11) in relation to the vehicle (1) in a predetermined spatial detection area (8) in an external environment of the vehicle (1) according to a predetermined detection procedure, characterized by , that the control device (4) is configured to, - to classify the object (10) as a road user (6) using a predetermined classification procedure, and - to issue a warning signal (12) when the object (10) classified as a road user (6) is located in a predetermined spatial danger zone (7) related to the vehicle (1), wherein a warning is only issued if the object (10) in the danger zone (7) is the road user (6), and that the control device (4) is configured to - to determine a relative motion (16) of the object (10) with respect to the vehicle (1) according to a predetermined motion determination procedure, - to classify the object (10) as either a stationary object (17) or a dynamic object (18) using a predetermined determination procedure, and - to determine a movement (19) of the vehicle (1) from the relative movement (16) of at least one object (10) classified as a stationary object (17), so that the turning assistance device (2) can independently determine the movement (19) of the vehicle (1). [2] Turning assistance device (2) according to claim 1, characterized by , that the control device (4) is configured to, - to identify a predetermined vehicle maneuver (20) in the movement (19) of the vehicle (1) by means of a predetermined tracking procedure, and - to issue an extended warning signal (21) if, at the time of identification of the predetermined driving maneuver (20), the object (10) classified as a road user (6) is located in the predetermined spatial danger area (7). [3] Turning assistance device (2) according to claim 1 or 2, characterized by , that the control device (4) is configured to output the extended warning signal (21) when a collision is predicted by the control device (4) from the movement (19) of the vehicle (1) and / or the relative movement (16) of the object (10) classified as a road user (6). [4] Turn assist device (2) according to one of the preceding claims, characterized by , that the classification procedure includes a classification of the object (10) using a Doppler profile. [5] Turn assist device (2) according to one of the preceding claims, characterized by , that the control unit (4) is configured to send the warning signal (12) and / or the extended warning signal (21) to a vehicle network (13) of the vehicle (1). [6] Turn assist device (2) according to one of the preceding claims, characterized by , that the control unit (4) is configured to output the warning signal (12) and / or the extended warning signal (21) to a warning device (14) of the turning assistance device (2), and the warning device (14) is configured to output an acoustic or optical signal upon receipt of the warning signal (12) and / or the extended warning signal (21).

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