A method for recognizing direction changes in a single-track vehicle, a program for executing the method, a control device for storing the program, and a single-track vehicle equipped with the control device.

Abstract

In a method for recognizing a direction change of a single-track vehicle and transmitting information to other vehicles, a steering torque is detected in the single-track vehicle, a direction change is recognized when the steering torque and / or steering torque change exceeds an assigned limit value, and a warning signal is subsequently transmitted to other vehicles whose lanes are crossed by the driving trajectory of the single-track vehicle when the direction change is recognized.

Description

[Technical Field]

[0001] The present invention relates to a method for recognizing direction changes of a single-track vehicle and transmitting information to other vehicles. [Background technology]

[0002] Automobiles equipped with autonomous braking systems that perform automatic brake intervention depending on the driving situation are known. For example, Patent Document 1 describes a method for recognizing overtaking or evasive maneuvers of a vehicle, in which a driving trajectory is calculated in advance based on the yaw angle, yaw acceleration, steering angle, and wheel rotation speed, and automatic intervention in the driver assistance system is performed.

[0003] From DE 10 2004 014 14 A1 it is known to determine the relative movement of a motor vehicle with respect to a detected collision object and to determine an avoidance course of action.

[0004] It is known from Patent Document 3 that an electric motorcycle performs autonomous braking without driver intervention by using emergency brake assist when it recognizes the risk of collision. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] European Patent No. 2404195 [Patent Document 2] German Patent Application Publication No. 102010006215 [Patent Document 3] US Patent Application Publication No. 2017 / 0028971 Summary of the Invention

[0006] The method according to the present invention relates to a single-track vehicle, in particular an electric single-track vehicle such as a motorcycle or scooter. The method can be used to automatically recognize a change in direction of the single-track vehicle and, if necessary, to transmit the change in direction as information to other vehicles that are at risk of collision with the single-track vehicle. A change in direction of the single-track vehicle is, in particular, a movement that leads to the single-track vehicle leaving its own lane.

[0007] The method is carried out in two consecutive steps: In the first step, the current steering torque of the single-track vehicle is detected and this steering torque is used as the basis for recognizing a direction change, which is performed if the steering torque and / or the steering torque change profile exceeds assigned limit values.

[0008] In a subsequent second step, if a direction change is detected, a warning signal is transmitted to other vehicles whose lanes are crossed by the single-track vehicle's trajectory.

[0009] The use of steering torque as a basis for detecting a direction change has the advantage that an intended direction change can be detected at an early stage and can be used as a reliable feature for detecting a direction change in a single-track vehicle. The introduction of a steering impulse can be detected via the steering torque or a steering torque change before the vehicle changes its direction of travel. Therefore, by evaluating the steering torque detected by a sensor in a single-track vehicle, a direction change can be detected at an earlier stage than by evaluating the steering angle. The steering torque can be detected by a steering torque sensor system in a single-track vehicle.

[0010] By comparing the steering torque or steering torque change with the assigned limit value, it is ensured that significant direction changes that may lead to the vehicle leaving its own lane are recognized, which makes it possible to distinguish between compensatory movements of a single-track vehicle that do not involve lane departure.

[0011] When a direction change is recognized, if the lane of the other vehicle is crossed by the driving trajectory of the single-track vehicle resulting from the direction change, a warning signal is transmitted from the single-track vehicle to the other vehicle. In this case, there is a risk of a collision between the other vehicle and the single-track vehicle, and a warning signal is sent in the other vehicle to indicate this risk. Then, based on this warning signal, the other vehicle can react to eliminate or at least reduce the risk of collision.

[0012] Therefore, the method according to the present invention can be used to improve the safety of both the single-track vehicle and other vehicles that are close to the single-track vehicle and on a collision path with the single-track vehicle that changes direction of travel.

[0013] The transmission of the warning signal from the single-track vehicle to the other vehicles can be carried out directly within the scope of inter-vehicle communication. Indirect transmission of the warning signal is also possible, where the warning signal is first transmitted from the single-track vehicle to a central station and then from the central station to the other vehicles.

[0014] In one advantageous embodiment, the warning signal is transmitted only to other vehicles that are within a predetermined maximum distance from the single-track vehicle, thereby ensuring that only other vehicles that are possibly on a collision path with the single-track vehicle receive the warning signal. However, it is also possible to transmit to other vehicles without using the predetermined maximum distance from the single-track vehicle.

[0015] A warning signal can be displayed in the other vehicle. Various display possibilities are possible, in particular acoustic and / or optical indications, and possibly tactile indications, such as vibrations of a part of the other vehicle that the driver comes into contact with, such as the steering wheel. The warning signal allows the driver to react accordingly, in particular by slowing down the other vehicle or, possibly, by performing an evasive maneuver.

[0016] In another advantageous embodiment, the warning signal is used in the other vehicle to adjust parameters and / or activate a driver assistance system. The driver assistance system in the other vehicle influences, in particular, the longitudinal dynamics and possibly the lateral dynamics of the other vehicle, for example, a brake assist, such as an emergency brake assist, for automatically activating a brake system. In this way, the warning signal can be used to enable an automatic reaction of the other vehicle.

[0017] In yet another advantageous embodiment, in addition to the warning signal, the position and speed of the single-track vehicle are also transmitted to the other vehicles. In some cases, the direction of movement of the single-track vehicle is also taken into account, and this direction of movement is transmitted to the other vehicles. Thus, various information is available to the other vehicles, enabling them to detect the relative position of the other vehicles with respect to the single-track vehicle and assisting in calculating the risk of collision. The additional information, together with the warning signal, can form a signal packet, which is transmitted directly or indirectly from the single-track vehicle to the other vehicles.

[0018] The current steering torque of the single-track vehicle, detected by the steering torque sensor system, can be used as a basis for determining a steering impulse, from which a direction change is identified. From the steering impulse, an intended direction change can be recognized even before the direction of travel of the single-track vehicle is changed.

[0019] In yet another advantageous embodiment, the warning signal is also displayed on the single-track vehicle itself, which has the advantage that the driver of the single-track vehicle is also warned of a possible collision with another vehicle and can react by changing speed or direction of travel.

[0020] In yet another advantageous embodiment, the warning signal is used in a single-track vehicle to adjust and / or activate a driver assistance system in the single-track vehicle, in which case a driving state change can be automatically triggered, for example, to activate an emergency brake assist.

[0021] The present invention further relates to a control device including means configured to perform the above method, the means including at least one storage unit, at least one calculation unit, a control device input, and a control device output. The control device in the single-track vehicle can be used to recognize direction changes of the single-track vehicle and generate a warning signal if necessary, which is transmitted to other vehicles in a direct or indirect manner.

[0022] The invention further relates to a combination of at least two control devices, each having the above-mentioned means for carrying out the method, one control device being provided on a single-track vehicle and another control device being provided on another vehicle, in which the received warning signal is processed.

[0023] The invention further relates to a computer program product comprising a program code designed to perform the method steps described above, the computer program product being executed on a control device described above or on a combination of at least two control devices.

[0024] The invention further relates to a single-track vehicle comprising a steering torque sensor for detecting a steering torque and a control device on which a computer program product or part of a computer program product is executed.

[0025] Further advantages and expedient embodiments can be seen from the other claims, the description of the figures and the drawings. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a side view of a motorcycle equipped with a control device that recognizes direction changes based on a steering torque signal; [Figure 2] This is a top view of a motorcycle on a road about to turn left and another vehicle approaching from the front. [Figure 3]4 is a flowchart of method steps for recognizing a direction change and transmitting a warning signal to other vehicles. DETAILED DESCRIPTION OF THE INVENTION

[0027] 1, a single-track vehicle formed as a motorcycle 1 is shown diagrammatically. The motorcycle 1 is equipped with a hydraulic brake system 2, which includes a front brake unit 3 for the front wheel and a rear brake unit 4 for the rear wheel, a brake control device, and a hydraulic pump for adjusting the brake fluid pressure. In the brake control device, a brake assist can be realized as a driver assistance system, by means of which autonomous brake interventions can be performed without relying on the driver.

[0028] The motorcycle 1 typically includes a drive motor. Furthermore, the motorcycle 1 is provided with a control device 5, which processes sensor signals from a sensor system including a steering torque sensor 6, an ambient sensor 7, and an inertial sensor 8. The steering torque sensor 6 provides the steering torque applied by the rider to the steering handle. The ambient sensor 7 is capable of detecting the surroundings of the motorcycle 1, in particular the areas in front of and to the sides of the motorcycle. The surroundings are detected optically using a camera or a radar beam.

[0029] The inertial sensor 8 makes it possible to detect the riding state variables of the motorcycle 1, in particular the vehicle speed, longitudinal and lateral acceleration, and the rotation rates about the longitudinal, lateral and vertical axes.

[0030] In some cases, the motorcycle 1 is also equipped with wheel rotation speed sensors for detecting the wheel rotation speeds of the front and rear wheels.

[0031] A direction change initiated by the driver can be recognized based on the steering torque detected by the steering torque sensor 6. For example, when a direction change accompanied by a lane change is initiated during a right or left turn, a warning signal is generated in the motorcycle 1, and this warning signal is transmitted to other vehicles around the motorcycle 1.

[0032] This situation is shown in Figure 2. Motorcycle 1 is traveling in the right lane of road 9 as required, and the driver intends to change direction to make a left turn along trajectory 10. The driver's left turn request can be recognized based on the steering torque currently generated by the driver and applied to the steering wheel, as detected by the steering torque sensor, and / or the steering torque change detected from the steering torque profile.

[0033] In the oncoming lane of the road 9, another vehicle in the form of a car 11 is approaching the motorcycle 1. Based on the current distance and relative speed between the motorcycle 1 and the other vehicle 11, the risk of an imminent collision can be recognized in the control device of the motorcycle 1, whereupon a warning signal is generated in the control device and transmitted from the motorcycle 1 to the other vehicle 11. The transmission can take place either directly from the motorcycle 1 to the other vehicle 11 by means of vehicle-to-vehicle communication, or indirectly from the motorcycle 1 to a central station and from there to the other vehicle 11. In Figure 2, the transmission of the warning signal is indicated by concentric circles around the motorcycle 1 (transmitted warning signal) and around the other vehicle 11 (received warning signal).

[0034] The received warning signal can be further processed in the other vehicle 11. The warning signal can be displayed in particular acoustically or optically in the other vehicle 11. It is also possible to process the warning signal in a driver assistance system of the other vehicle 11 in order to automatically influence the driving state of the other vehicle and to eliminate or at least reduce the risk of a collision with the motorcycle 1.

[0035] 3 shows a flow chart of the method steps for recognizing a direction change and transmitting a warning signal to other vehicles in the event of an imminent collision. In a first method step V1, the steering torque of the motorcycle is continuously measured by a steering torque sensor. In a subsequent method step V2, the measured steering torque is evaluated for a driver-initiated direction change. Such a direction change occurs if the steering torque exceeds a limit value. Alternatively, a steering torque change can also be observed, in which case a direction change occurs if the steering torque change exceeds an assigned limit value. In some cases, a combination of two criteria related to steering torque and steering torque change is performed.

[0036] A change of direction is understood to mean providing a steering impulse large enough to steer the motorcycle out of its lane, whereas smaller steering corrections that do not result in steerage out of the lane are not considered.

[0037] If the evaluation in method step V2 results in the condition for a change of direction not being fulfilled, then the No branch ("N") is followed again to method step V1, and this method step is executed anew at periodic intervals.

[0038] On the other hand, if the query in method step V2 results in the condition for a change of direction being fulfilled, the process proceeds along the yes branch ("Y") to the next method step V3. In method step V3, a warning signal is generated on the motorcycle and transmitted to the surroundings. Other vehicles within the transmission radius of the warning signal transmitted by the motorcycle can receive and evaluate the warning signal. Advantageously, in addition to the warning signal, the position and speed of the motorcycle are also transmitted in the signal packet and transmitted to other nearby vehicles. Furthermore, the direction of movement of the motorcycle can also be transmitted in the signal packet.

[0039] In the next method step V4, the control device of the other vehicle can process the warning signal and other information from the signal packet. Based on the signal packet and taking into account the position, speed, and direction of travel of the host vehicle, it can be determined whether the motorcycle's trajectory is in the lane of the other vehicle and whether there is an imminent risk of a collision between the other vehicle and the motorcycle. If this is not the case, the NO branch can be followed again to the start of the method in method step V1.

[0040] If, on the other hand, the evaluation in the other vehicle results in a risk of collision, the process proceeds along the YES branch to the next method step V5, in which measures are taken to eliminate or at least reduce the risk of collision. This measure can be, for example, the optical or acoustic display of a warning signal, to which the driver can react in order to avoid the imminent collision, for example by braking the other vehicle. In addition to or instead of displaying a warning signal, the measure can also be an automatic intervention in the driver assistance systems of the other vehicle, such as activating an emergency braking system, in order to automatically brake the other vehicle and thereby avoid the risk of collision. [Explanation of symbols]

[0041] 1. Motorcycle 2 Hydraulic brake system 3 Front brake unit 4 Rear brake unit 5. Control device 6 Steering torque sensor 7 Ambient Sensor 8 Inertial Sensors 9 road 10 Trajectory 11 Other vehicles V1~V5 method steps

Claims

1. A method for recognizing direction changes of a single-track vehicle (1) and transmitting information to other vehicles (11), comprising the following method steps: - detecting a steering torque on the single-track vehicle (1), in which a direction change is recognized if the steering torque and / or steering torque change exceeds an assigned limit value; - transmitting a warning signal to other vehicles (11) whose lane is crossed by the trajectory of the single-track vehicle (1) when a change of direction is recognized; A method that encompasses

2. 2. The method according to claim 1, characterized in that the warning signal is transmitted directly from the single-track vehicle (1) to the other vehicles (11) within the scope of inter-vehicle communication.

3. 3. The method according to claim 1 or 2, characterized in that the warning signal is transmitted from the single-track vehicle (1) to a central station and further from the central station to the other vehicles (11).

4. 3. The method according to claim 1, wherein the warning signal is displayed in the other vehicle.

5. 3. The method according to claim 1 or 2, characterized in that the warning signal is used to adjust or activate a driver assistance system in the other vehicle (11).

6. 3. A method according to claim 1 or 2, characterized in that in addition to the warning signal, the position and speed of the single-track vehicle (1) are also transmitted to the other vehicles (11).

7. 3. The method according to claim 1, wherein a steering impulse is determined from the current steering torque, on which the direction change detection is based.

8. 3. The method according to claim 1 or 2, characterized in that the warning signal is displayed on the single-track vehicle (1).

9. 3. The method according to claim 1 or 2, characterized in that the warning signal is used to adjust or activate a driver assistance system in the single-track vehicle (1).

10. A control device or control device combination comprising means adapted to carry out the method according to claim 1 or 2.

11. A single-track vehicle comprising a steering torque sensor (6) for detecting a steering torque and a control device (5) according to claim 10.

12. 11. A computer program product with a program code, the program code being designed to carry out the steps of the method according to claim 1 or 2 when said computer program product is executed on a control device (5) or a combination of control devices according to claim 10.

Images