Method and control device for monitoring a rear area of a two-wheeled vehicle

Abstract

The present invention relates to a method for monitoring a rear area (102) of a two-wheeled vehicle (100), wherein traffic objects (104) in the rear area (102) are detected and rear area information (108) is provided for a driver of the two-wheeled vehicle (100) if a traffic object (104) is detected in the rear area (102), wherein a warning (200) is provided for the driver if an incipient overtaking process by the traffic object (104) is detected.

Description

[0001] Description

[0002] title

[0003] Method and control device for monitoring a rear space of a two-wheeler

[0004] Field of the invention

[0005] The invention relates to a method for monitoring a rear space of a two-wheeler, a corresponding control device and a corresponding computer program product

[0006] State of the art

[0007] A two-wheeler may be equipped with a sensor system that monitors an area behind the two-wheeler. If another road user is following the two-wheeler within this area, a warning can be issued to the two-wheeler's rider of a potential hazard, preventing them from braking suddenly and potentially causing a collision with the other road user.

[0008] The warning can be issued if the other road user is following closer than is appropriate for a prolonged period of time, given the current speed of both vehicles. This can minimize the frequency of warnings.

[0009] Disclosure of the invention

[0010] Against this background, the approach presented here presents a method for monitoring the rear area of ​​a two-wheeler, a corresponding control unit, and a corresponding computer program product according to the independent claims. Advantageous further developments and improvements of the approach presented here emerge from the description and are described in the dependent claims.

[0011] Advantages of the invention

[0012] Motorcyclists can only see a small portion of the area behind their bike through their side mirrors. If another road user isn't visible in the side mirror, the motorcyclist may be caught off guard if the other road user suddenly overtakes.

[0013] In the approach presented here, the area behind a two-wheeler is detected and monitored by the two-wheeler's sensor system. The area behind the two-wheeler can be referred to as the two-wheeler's rear space. If another road user is detected in that area, the driver of the two-wheeler is informed of the other road user's presence. This information does not constitute a warning. The information is provided at a low threshold. A response from the driver to the information is not required.

[0014] As the other road user approaches the two-wheeler, the intensity of the information can be increased. Especially if the other road user attempts to overtake the two-wheeler, they will briefly drive close to the two-wheeler and then swerve to the side, passing the two-wheeler on one side.

[0015] With a conventional warning of latent danger, the driver would only be warned while the other road user is following closely just before the actual overtaking maneuver, as a braking maneuver by the driver could then have critical consequences.

[0016] Here, the driver is already informed when the other road user is detected. If an impending overtaking move is detected, the driver is warned not to change lanes.

[0017] The approach presented here allows the driver to check their side mirrors early on and recognize the situation themselves. This prevents the driver from being caught off guard by the other participant's overtaking maneuver. A method for monitoring the rear area of ​​a two-wheeler is proposed, whereby traffic objects in the rear area are detected and rear area information is provided to the driver of the two-wheeler when a traffic object is detected in the rear area. A warning is provided to the driver when a risk of overtaking is detected from the traffic object.

[0018] Ideas for embodiments of the present invention can be considered, among other things, to be based on the thoughts and findings described below.

[0019] The rear area of ​​a two-wheeler can extend behind the two-wheeler and to the side behind the two-wheeler. The rear area can be monitored, for example, by a radar sensor on the two-wheeler. A traffic object can be another road user. The traffic object can be, for example, another two-wheeler, a motorcycle, a car, or a truck.

[0020] Rear-view information can be provided via a human-machine interface on the two-wheeler. For example, lights in and / or on both side mirrors of the two-wheeler can be activated to provide rear-view information.

[0021] The intensity of the rear-view information can depend on the distance between the two-wheeler and the road object. The intensity can increase as the road object approaches. For example, the brightness of the lights can be adjusted. Alternatively or additionally, the lights can also flash or pulsate. The flashing frequency can, for example, be increased as the road object approaches.

[0022] A warning can also be provided via a human-machine interface of the two-wheeler. The rear-space information and the warning can be provided via the same human-machine interface. The warning can have different characteristics than the rear-space information. For example, the warning can be provided in a different color and / or with a different flashing frequency. The warning can have a higher intensity than the rear-space information. The warning can be more conspicuous than the rear-space information.

[0023] An overtaking risk can be detected when the road object begins a movement pattern typical of an overtaking maneuver. For example, the movement pattern may begin with a sharp acceleration toward the two-wheeler or a rapid approach to the two-wheeler. This can then indicate the beginning of a swerve. The swerve can also indicate one side of the overtaking maneuver. The overtaking risk can also be detected if the road object closes in and travels laterally offset close behind the two-wheeler.

[0024] The warning must be provided on the side of the two-wheeler where the overtaking risk is detected or the road object is about to overtake. The warning can only be provided on one side, for example, on a side mirror. Provision can be stopped on the side where the road object is not being overtaken. However, if at least one other road object is detected in the rear area, the rear information can still be provided.

[0025] The risk of overtaking or the beginning of an overtaking maneuver can be detected when the road object moves sideways. The sensor can detect a lateral direction relative to the road object. This lateral direction can be referred to as the yaw angle. The risk of overtaking or the beginning of an overtaking maneuver can be detected when the yaw angle relative to the road object changes. This can be detected when the road object behind the two-wheeler moves sideways to overtake.

[0026] Distance information can be provided to the rider if a time gap, which is determined taking into account the distance between the two-wheeler and the road object as well as the current speed of the two-wheeler, is smaller than a predefined time value. If the road object is driving close to the two-wheeler, a critical situation can easily arise if, for example, the rider brakes suddenly. Therefore, the rear area information can be escalated to distance information. The distance information can warn the rider of a latent risk of a collision. The warning can be provided if the collision probability of the road object is greater than a predefined threshold.The probability of a collision may increase if, for example, the road object is approaching at a high relative speed and the yaw angle remains constant. The warning can be provided as a collision warning to the driver if the time to collision is less than a threshold. The collision warning can also activate a collision warning system to warn the driver of the road object.

[0027] Approach information can be provided to the driver if the approaching speed of the traffic object is greater than a predefined threshold. The approach information can inform the driver that the detected traffic object is approaching the two-wheeler. The approach information can also be provided via a human-machine interface of the two-wheeler. The rear area information and the approach information can be provided via the same human-machine interface. The approach information can have different characteristics than the rear area information. For example, the approach information can be provided in a different color and / or with a different flashing frequency. The approach information can have a higher intensity than the rear area information. The approach information can be more conspicuous than the rear area information.The approach information can be an escalation of the backcourt information.

[0028] The approach information can be provided if the absolute speed of the traffic object is greater than a threshold. The approach information may only be relevant above a certain speed.

[0029] Rear-space information can be provided when a traffic object is detected in a predefined corridor behind the two-wheeler. A predefined corridor can cover a lane of the two-wheeler when traveling straight ahead. A traffic object in an adjacent lane cannot be displayed this way, as it is not as relevant to the driver. The warning can be provided when the traffic object is detected next to the predefined corridor. In particular, the warning can be provided when the traffic object has already approached the two-wheeler. If the traffic object is still a long way away, the rear-space information can be provided as side-space information on one side to simply indicate the presence of the traffic object.

[0030] The method is preferably computer-implemented and can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a driver assistance system.

[0031] The approach presented here further creates a control unit in the form of a driver assistance system for a vehicle, wherein the driver assistance system is designed to carry out, control or implement the steps of a variant of the method presented here in corresponding devices.

[0032] The control unit or driver assistance system can be an electrical device with at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, and at least one interface and / or a communication interface for reading in or outputting data embedded in a communication protocol. The computing unit can be, for example, a signal processor, a so-called system ASIC, or a microcontroller for processing sensor signals and outputting data signals depending on the sensor signals. The memory unit can be, for example, a flash memory, an EPROM, or a magnetic storage unit. The interface can be designed as a sensor interface for reading in the sensor signals from a sensor and / or as an actuator interface for outputting the data signals and / or control signals to an actuator.The communication interface can be configured to read or output data wirelessly and / or via a wired connection. The interfaces can also be software modules, which are present, for example, on a microcontroller alongside other software modules.

[0033] Also advantageous is a computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out, implement and / or control the steps of the method according to one of the embodiments described above, in particular when the program product or program is executed on a computer or a device.

[0034] It should be noted that some of the possible features and advantages of the invention are described herein with reference to different embodiments. A person skilled in the art will recognize that the features of the control device and the method can be combined, adapted, or exchanged as appropriate to achieve further embodiments of the invention.

[0035] Short description of the drawings

[0036] Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be construed as limiting the invention.

[0037] Figs. 1 to 4 show representations of a two-wheeler with a control unit according to an embodiment.

[0038] The figures are merely schematic and not to scale. Like reference numerals denote like or equivalent features.

[0039] Embodiments of the invention

[0040] Fig. 1 shows a representation of a two-wheeler 100 with a control unit according to an exemplary embodiment. The two-wheeler has a sensor for detecting a rear space 102 behind the two-wheeler. The sensor detects a traffic object 104 in the rear space 102. The traffic object 104 is traveling in the same lane as the two-wheeler 100. The control unit evaluates sensor information from the sensor and outputs rear space information 108 to a driver of the two-wheeler 100 via a human-machine interface 106. The rear space information 108 is provided here via lamps or lights in the side mirrors of the two-wheeler 100. The traffic object 104 is still a sufficient distance from the two-wheeler 100. Therefore, the rear space information 108 is purely informative. Fig. 2 shows the two-wheeler 100 from Fig. 1 at a later point in time. Here, the traffic object 104 has come close to the two-wheeler 100.The traffic object 104 is still traveling in the same lane as the two-wheeler 100, but has already moved laterally toward the adjacent lane. This change in the yaw angle relative to the traffic object is interpreted by the control unit as the beginning of an overtaking maneuver. The control unit now issues a warning 200 via the human-machine interface 106. The warning 200 is displayed only on the side of the two-wheeler 100 on which the traffic object 104 will overtake. The warning 200 has a higher intensity than the rear-space information. The warning allows the driver to prepare for the imminent overtaking and, for example, grip the handlebars more firmly to maintain safe control of the two-wheeler 100.

[0041] Fig. 3 also shows the two-wheeler 100 from Fig. 1 at a later point in time. Here, the traffic object 104 has approached very closely to the two-wheeler 100 and has not swerved to the side. There is a risk of a collision between the traffic object 104 and the two-wheeler 100. The control unit detects the risk of collision and issues a collision warning 300 via the human-machine interface 106. The collision warning 300 has a higher intensity than the rear-space information. In addition, the control unit activates collision warning lights 302 of the two-wheeler 100 to warn a driver of the traffic object 104.

[0042] Fig. 4 shows a representation of a two-wheeler 100 with a control unit according to an exemplary embodiment. The two-wheeler 100 essentially corresponds to the two-wheeler in Figs. 1 to 3. Here, a sequence of points in time is shown in one figure. At a first point in time, a traffic object 104 is traveling in an adjacent lane laterally behind the two-wheeler 100. The traffic object 104 is detected by the sensor. Since the traffic object is traveling laterally next to a corridor 400 for the rear space information 108, no information is output to the driver.

[0043] In one embodiment, side-space information 402 is output to the driver via the human-machine interface 106 of the two-wheeler 100. The side-space information 402 is output only on one side of the two-wheeler 100. The side-space information 402 informs the driver that a traffic object is traveling laterally offset from the two-wheeler 100 in the rear space 102.

[0044] At a second point in time, traffic object 104 has approached two-wheeler 100 and drifted laterally out of its lane. Traffic object 104 is now located in corridor 400 for rear-space information 108. The control unit then provides rear-space information 108 to the driver, as shown in Fig. 1.

[0045] If the traffic object 104 were to approach further, the control unit would provide the rear space information 108 with a higher intensity or switch to the collision warning.

[0046] At a third point in time, traffic object 104 has moved further toward two-wheeler 100, but has returned to its lane. The control unit thus stops providing rear-space information 108 and switches to providing warning 200, since a lane change by two-wheeler 100 would now lead to a critical situation.

[0047] In the following, possible embodiments of the invention are summarized again or presented with slightly different wording.

[0048] A warning about rapidly approaching objects is presented.

[0049] The concept extends the functions of rear hazard information and rear collision warning to include the activation of lane change warning systems when rapidly approaching rear objects are detected.

[0050] Two-wheeled vehicle riders have limited visibility to the rear of the vehicle, and even the side mirrors are limited. Therefore, any information a rear-facing external sensor can provide to the rider to enhance their worldview is valuable. This information can be provided as a warning or as purely passive information.

[0051] Failure to understand the nature of the traffic behind the motorcycle can, in the worst case, lead to traffic accidents, such as a rear-end collision with the motorcycle in question if it stays in its lane, or a collision with adjacent traffic during a lane-changing maneuver.

[0052] This concept aims to provide valuable information to the driver by informing him about dangerously approaching traffic behind him.

[0053] The ability to warn other drivers on the road approaching the motorcycle with a risk of collision may be limited by regulations. Regulations limit the permissible activation window when using forward collision warning lights (RECAS). Therefore, any opportunity to provide the rider with earlier warning is beneficial.

[0054] At high speeds, such as on the highway, the rider can be destabilized by rapidly overtaking vehicles. Since there are no aids for such situations on motorcycles yet, a warning of rapidly approaching objects could be useful to the rider, prompting them to brace and take control of the vehicle when this happens.

[0055] Objects rapidly approaching the rider from behind are detected, and the rider is given a clearly visible warning to warn of an approaching vehicle that has a high probability of overtaking the motorcycle in question, thus posing a risk of lane change, rear-end collision, or unstable handling—but without causing the rider to brake and increasing the severity of the situation. This warning can be provided visually, audibly, or haptically.

[0056] If the warning is also visible to the approaching rider, it can provide the rider with an earlier indication that the motorcycle in question is at risk of a rear-end collision, before the danger is significant enough to activate the forward collision warning system. An example of this would be the activation of the lane departure warning lights on the motorcycle's side mirrors.

[0057] An object detection unit with one or more rear sensors (e.g., radar) is mounted facing the rear of the two-wheeled vehicle. This sensor detects relevant traffic objects. An object evaluation unit, which can be part of the detection unit, is responsible for evaluating the traffic objects. This unit evaluates whether a detected object meets certain criteria. Is the object approaching in the same lane or in a corridor located directly behind the motorcycle, and is the object relevant to a rear-end collision, such as the time to collision or the collision probability, or is the object highly likely to overtake the motorcycle in question during its approach maneuver.

[0058] If the conditions are met, the unit forwards a request to other HMI-relevant components in the vehicle.

[0059] The unit's evaluation may include additional conditions to decide when to send, not send, or suppress an HMI request. These could include the object being below a certain absolute speed, the object being below a certain relative speed, the object having a certain yaw angle relative to the motorcycle in question, the motorcycle in question being outside a certain speed range, the motorcycle in question being generally tilted or tilting outside a certain range, or otherwise moving non-linearly, a certain time delay not having elapsed, and / or a valid warning time not having been calculated.

[0060] The request may be steady or oscillating and may be sent with one or more levels of need or with a gradation reflecting the warning need.

[0061] Other components on the vehicle capable of providing feedback to the driver (e.g., visual, haptic, or acoustic) receive the request and are activated accordingly as an HMI / warning unit. For example, both blind spot indicators on the mirror can illuminate (steady or flashing) as long as the request is received. In Fig. 1, a rapidly approaching object poses a lane change risk for the ego bike because the rapidly approaching object likely intends to overtake or is otherwise likely to overtake. However, the target lane for the overtaking maneuver is unknown. The human-machine interface therefore signals the traffic situation to the driver, and the driver can adapt accordingly, for example, by swerving laterally to create a greater safe overtaking distance or by physically bracing themselves if the air of the fast overtaking vehicle impairs driving stability.

[0062] In Fig. 2, the approaching object is confirmed as an overtaking maneuver. The rapidly approaching object from Fig. 1 can now be clearly assigned to a lane or a lateral overtaking corridor. The original warning of a rapidly approaching object can be deactivated. A backup warning signaling the lane change risk, e.g., from an existing lane change warning system, can then remain in place.

[0063] In Fig. 3, the rapidly approaching object poses a rear-end collision risk for the ego bike, as the rapidly approaching object may not have seen the ego bike. However, the conditions for triggering the rear collision warning system have not yet been met. The human-machine interface therefore signals the traffic situation to the rider, allowing the rider to adapt, e.g., by swerving laterally to create a greater safety distance. Regardless, the approaching rider can also perceive the warning and react to the situation early to avoid a potential collision.

[0064] In Fig. 3, the rapidly approaching object now meets the condition for activation of the rear collision warning system. The original rapidly approaching object warning can be retained or deactivated while the separate rear collision warning system is activated.

[0065] Blind spot hazard information is displayed.

[0066] A previous function provided information about latent hazards from dangerously following vehicles (e.g., tailgating). The function presented here provides information when a rear vehicle is detected in the same lane as the driver, since two-wheeled vehicle drivers have limited knowledge of rear vehicles.

[0067] Rear hazard information can be provided by a radar-based system that can provide the driver of a two-wheeled vehicle with rear hazard information. A warning can be issued if an object is detected traveling at a dangerously close distance behind the vehicle, i.e., if it collides with the vehicle. The following vehicle, or "target object," is identified as an object following the two-wheeler at a constant distance. This ensures that only objects that pose a potential danger to the driver are warned about.

[0068] If objects temporarily pass behind the two-wheeler, they do not pose a latent or critical danger to the driver - for example, if the driver suddenly brakes when a vehicle is in a traffic jam.

[0069] With the new function disclosed herein, a parameter that controls the timer for suppressing objects that are not in a stable state of subsequent conditions (the "warning delay") is reduced to zero.

[0070] With further adjustments to the parameters and warning levels, a significantly different and novel function is provided, which differs in terms of information content and objectives.

[0071] This new feature still provides distance information and information about potential hazards for vehicles behind, but it is more focused on providing information about the driver's blind spot - regardless of whether the vehicle behind is in a stable following condition.

[0072] The new function now also informs the driver when the rear vehicle can maintain a safe braking distance from the driver, and / or even when the vehicle is only temporarily in a non-following position behind Ego, i.e., when passing behind the driver / changing lanes—from next to the driver to behind the driver. The latent danger of these situations can be described as far lower or even nonexistent compared to the latent danger situations behind the driver. Nevertheless, the additional world and traffic knowledge available to the driver in the absence of rearview mirrors is advantageous.

[0073] In addition, the warning can be made more severe (e.g. to "Level 2") if the rear vehicle is even closer behind the driver.

[0074] However, the parameter that conveys the condition that the object must follow continuously is removed / reduced.

[0075] Conventionally, the driver receives an informational warning for a continuously following "trailing" object. A warning delay blocks the warning for a finite period of time. The warning is only issued if the object remains a "trailing" vehicle (i.e., it is confirmed as following consistently) for longer than the warning delay time.

[0076] Here, the driver is warned of an object that is in the rear blind spot area or is about to enter it. The driver is given another type of information to inform them about the rear object, regardless of the danger the object may or may not pose to the driver (latent rear danger). For example, if the driver suddenly brakes or the vehicle behind accelerates.

[0077] Here, the driver is informed about the following vehicle by an environmental sensor.

[0078] Finally, it should be noted that terms such as "comprising," "having," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Reference signs in the claims are not to be considered limiting.

Claims

Claims 1. A method for monitoring a rear space (102) of a two-wheeler (100), wherein traffic objects (104) in the rear space (102) are detected and rear space information (108) is provided to a driver of the two-wheeler (100) when a traffic object (104) is detected in the rear space (102), wherein a warning (200) is provided to the driver when a risk of overtaking the traffic object (104) is detected.

2. Method according to claim 1, wherein the warning (200) is provided on the side of the two-wheeler (100) on which the overtaking risk is detected.

3. Method according to one of the preceding claims, in which the overtaking risk is detected when the traffic object (104) moves sideways.

4. Method according to one of the preceding claims, in which distance information is provided to the driver if a time gap, which is determined taking into account a distance between the two-wheeler (100) and the traffic object (104) and a current speed of the two-wheeler (100), is smaller than a predefined time value.

5. The method according to any one of the preceding claims, wherein the warning is provided when a collision probability of the traffic object (104) is greater than a predefined threshold.

6. Method according to one of the preceding claims, wherein approach information is provided to the driver when an approach speed of the traffic object (104) is greater than a predefined threshold value.

7. The method according to claim 6, wherein the approach information is provided when an absolute speed of the traffic object (104) is greater than a threshold value.

8. Method according to one of the preceding claims, wherein the rear space information (108) is provided when the traffic object (104) is detected in a predefined corridor (400) behind the two-wheeler (100).

9. The method according to claim 8, wherein the warning (200) is provided when the traffic object (104) is detected adjacent to the predefined corridor (400).

10. Control device, wherein the control device is configured to execute, implement and / or control the method according to one of the preceding claims in corresponding devices.

11. A computer program product configured to instruct a processor, upon execution of the computer program product, to execute, implement, and / or control the method according to any one of claims 1 to 9.

12. A machine-readable storage medium on which the computer program product according to claim 11 is stored.

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