Method, system and computer program for adaptive collision warning using dynamically adjustable warning zones for vehicles
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- VALEO SCHALTER & SENSOREN GMBH
- Filing Date
- 2026-01-19
- Publication Date
- 2026-07-30
Smart Images
Figure EP2026051157_30072026_PF_FP_ABST
Abstract
Description
1 2024PF01969 METHOD, SYSTEM AND COMPUTER PROGRAM FOR ADAPTIVE COLLISION WARNING WITH DYNAMIC ADJUSTABLE WARNING ZONES FOR VEHICLES AREA OF TECHNOLOGY
[0001] The invention relates to a method, a system and a computer program for issuing a warning. STATE OF THE ART
[0002] Collision warning plays a crucial role in vehicle safety systems, especially for vehicles operating in dense or highly dynamic traffic conditions. Conventional collision warning systems can be based on fixed, rectangular warning zones that are rigidly positioned behind the vehicle and trigger a warning, for example, when another object is within this zone. However, these systems offer limited flexibility, as they may be restricted to a linear driving path and a rigid monitoring zone. Such rectangular warning zones vary in length depending on the configuration, but in this example, they do not adapt to curves or complex driving maneuvers, which can lead to false warnings or missed alerts, particularly on winding roads or during lane changes.
[0003] Many existing systems can be based on a time-to-collision (TTC) calculation, which, in the example above, is performed on a straight line. Such a calculation method is suitable, for example, for driving on straight roads, but can also lead to inaccuracies when cornering or performing complex maneuvers, since in such an example the collision time is calculated independently of the actual curvature of the road. This can lead to a collision risk being misjudged or not detected at all, especially on winding roads or during maneuvers with varying speeds and turning angles.
[0004] To ensure robust collision warning in complex traffic scenarios, the ISO standard 17387 was developed, which, among other things, stipulates that collision warning systems must be able to operate reliably even in busy and winding environments. Nevertheless, examples of existing systems rely on static, rectangular warning zones, which limits their adaptability to different traffic situations and can increase the risk of false alarms. SUMMARY
[0005] It is an object of the invention to provide an improved method, an improved system, and an improved computer program for issuing a warning. The objects underlying the invention are solved by the features of the independent claims.
[0006] In one aspect, a method for issuing a warning is disclosed, wherein the method comprises: receiving driving parameters of a vehicle; receiving sensor data relating to an object, wherein the sensor data includes at least a relative speed and a relative position of the object to the vehicle; generating at least one warning zone relative to the vehicle's surroundings based on the vehicle's driving parameters, wherein a geometric shape of the respective warning zone depends on the driving parameters; wherein, in the case that the object is at least partially located within the at least one warning zone, the method further comprises: determining a distance line between the object and the vehicle, wherein the distance line partially lies within one of the respective at least one warning zone; determining a time until the possible collision based on the distance line and the relative speed;and issuing a warning of the potential collision if the time until the potential collision falls below a predetermined threshold.
[0007] In another aspect, a computer program is disclosed which includes machine-executable instructions for execution by a computer system, wherein the execution of the machine-executable instructions causes the computer system to perform the procedure according to the preceding aspect.
[0008] In another aspect, a system is disclosed which includes a means set up to carry out all the steps of the procedure according to the preceding aspect.
[0009] It is understood that one or more of the aforementioned examples can be combined, as long as the examples are not mutually exclusive.3 2024PF01969
[0010] It is understood that examples and / or aspects of the preceding aspects may be combined with one another, provided that the examples and / or aspects are not mutually exclusive. In particular, examples of the aspect of the procedure for issuing a warning may be combined with the aspect of the computer program and / or with the aspect of the system, provided that this is not mutually exclusive. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] The following examples are explained in more detail using the drawings. They show:
[0012] Fig. 1 shows a method for issuing a warning;
[0013] Fig. 2 shows a vehicle with two generated warning zones, towards which an object is approaching from behind;
[0014] Fig. 3 shows a vehicle with two warning zones, towards which two objects are approaching from behind;
[0015] Fig. 4 shows a vehicle with two warning zones that are dynamically generated from the driving profile;
[0016] Fig. 5 shows an object approximately between two warning zones;
[0017] Fig. 6 shows an object partially on a longitudinal side of a warning zone inclined towards a vehicle;
[0018] Fig. 7 shows an object in oncoming traffic on the lateral side of a vehicle;
[0019] Fig. 8 shows an object between two warning zones;
[0020] Fig. 9 shows a vehicle after a U-turn;
[0021] Fig. 10 shows a vehicle during a turning maneuver. DETAILED DESCRIPTION
[0022] Methods, systems, and computer programs for generating adaptive warning zones that can take into account a vehicle's curves and on which a warning can be issued are disclosed. The invention could significantly improve road safety by using flexible / dynamic warning zones that dynamically adapt to the driving situation. Unlike rigid warning zones, which, for example, only cover linear areas, the warning zones described here would react to speed, curve radius, and other driving parameters, thus enabling more precise monitoring of the surroundings. Particularly in complex traffic situations, such as cornering or on multi-lane roads, the system could provide more accurate warnings of potential collisions, thereby optimizing the driver's reaction time.This would allow the driver to react faster and more safely, reducing the likelihood of an accident.
[0023] Another advantage of dynamically adjusting the warning zone could be its ability to react precisely to changing driving situations such as curves, high speeds, or heavy city traffic. A further benefit could be that the geometric adjustment of the warning zone would minimize false alarms, as only objects within a realistic collision area would be considered. The distance line running within the warning zone also allows for an exact calculation of the collision time, which should significantly increase the efficiency and accuracy of the warnings.
[0024] The present invention is likely to be particularly relevant in the context of lane-change assistance systems. For example, the system notifies the driver of the presence of an approaching road user in the adjacent lane. This notification can escalate into a warning if the driver intends, for example, to change lanes to the side from which the approaching object is approaching. The notification and warning are based, for example, on the time-to-collision (TTC), which could be the time the approaching object would need to reach the vehicle. By using the TTC, the system can accurately detect when a potential collision risk might exist and, for example, warn the driver in good time.
[0025] For example, a warning in a vehicle could take various forms and be communicated to the driver in different ways to indicate a potential hazard. For example, the warning could be visual, audible, haptic, or a combination thereof. The warning could be visual, via an illuminated symbol in the driver's field of vision; audible, via a warning tone; haptic, for example, via a vibrating steering wheel; or through a combination of these methods.5 2024PF01969
[0026] The case where the object is at least partially within at least one warning zone does not, for example, encompass all instances where the object is in the warning zone in any way. For instance, a threshold can be defined specifying what percentage of the object must be within the warning zone. This threshold could be 25%, 50%, or any other value. It is also conceivable that the object only needs to be partially within the warning zone on a specific side for the subsequent steps of the procedure to be carried out. This side could be the longitudinal side facing away from the vehicle. For example, it might not be sufficient for the object to be located on one of the lateral sides of the warning zone relative to the vehicle, or for it to be partially within the longitudinal side facing the vehicle.
[0027] Sensor data could be acquired by sensors. The sensors could be installed in or on the vehicle. These sensors could include radar sensors, cameras, and / or LiDAR systems, and / or a combination thereof. It is also possible for only one or more sensors to be installed. These sensors would continuously monitor the vehicle's surroundings and provide data on key parameters. For example, a radar sensor could measure the relative speed of an object, such as an approaching vehicle. A camera could further refine the object's position and classification. A LiDAR system could determine the object's precise distance and spatial orientation.
[0028] The vehicle itself could be the car equipped with this system, operating in traffic and capable of generating a warning zone through the use of sensor data and algorithms. This warning zone could dynamically adapt to the environment and the vehicle's speed to detect potentially dangerous objects early. Such an object could approach the vehicle from behind, traveling in the same direction. The object could be any object moving in traffic. Non-exhaustive examples include vehicles, particularly cars, trucks, motorcycles, bicycles, e-bikes, and / or pedestrians, as well as any other objects that can approach the vehicle from behind due to their own speed.This can therefore be any type of road user or obstacle that may be in the vicinity, especially behind the vehicle, and has its own speed, and whose position and speed can be recorded in real time.
[0029] The threshold for the time to collision (TTC) could, for example, be defined based on ISO standard 17387, which specifies requirements for collision warning systems. A warning could be triggered if the TTC is below a predefined threshold and the approaching object is at least partially within the warning zone. Typically, this threshold could be set so that a warning is issued when approaching at a certain relative speed with a TTC value of, for example, less than 3.5 seconds.
[0030] For example, the warning zone encompasses an area around the vehicle designed to identify objects that might be in close proximity. The warning zone can be generated dynamically and adapt to the vehicle's driving parameters. This means that the warning zone can take on a different size or geometric shape depending on the vehicle's driving parameters. To adapt to a winding road, it could take the form of a curved rectangle or a similar shape that follows the road's contours, particularly in curves. The warning zone can be located behind or beside the vehicle, thus following the contours of an adjacent lane.
[0031] The distance line could be an imaginary line drawn between the object and the vehicle. It could partially lie within the warning zone and serve to accurately determine the distance between the object and the vehicle, as well as the time until a potential collision. The distance line would be calculated continuously, so that changes in the object's distance or speed could be immediately incorporated into the calculation of the distance and / or collision time. The distance line could lie predominantly within the warning zone. In the example case where there is a buffer zone between the rearmost part of the vehicle and the beginning of the warning zone, the warning zone would not lie entirely within the warning zone, as it would then also extend through this buffer zone. The buffer zone would then not overlap either the warning zone or the vehicle. For example, the length of the buffer zone is 3 meters.
[0032] For example, the course of the distance line is determined based on the driving parameters and the sensor data, and / or the warning zone comprises a first warning zone and a second warning zone, both located at the same longitudinal distance behind the vehicle, and wherein the warning zones are located at the same lateral distance on the first and second sides of the vehicle, respectively.7 2024PF01969
[0033] For example, the longitudinal distance describes the area along the vehicle's longitudinal axis. For example, the warning zone behind the vehicle begins at a point 3 meters behind the vehicle's rear bumper. However, this distance can also be any value other than 3 meters and / or be configurable and / or dynamically adjustable. For example, the warning zone extends to a configurable distance to the rear. For example, the warning zone extends from 30 meters to 70 meters longitudinally behind the vehicle. The area within which the warning zone extends longitudinally can also be any value other than 30 meters to 70 meters and / or be configurable and / or dynamically adjustable.
[0034] The lateral distance can refer to the vehicle's transverse axis. It could encompass the area to the side of the vehicle and begin at 0.5 m from the outermost edge of the vehicle, excluding the side mirrors. It could extend up to a maximum distance of 3 m. However, the distances defined here can also be any values other than 0.5 m or 3 m, and / or be configurable and / or dynamically adjustable. For example, there is a separate warning zone on each side of the vehicle. Each warning zone monitors the traffic on its respective side independently. For instance, one warning zone could cover one lane to the left and one to the right of the vehicle.
[0035] This specific configuration could offer the advantage that the system could specifically monitor traffic to the side and rear, detecting potential collision hazards early on. Independent monitoring of each side of the vehicle would, for example, reduce false alarms, as only objects that could actually be in a critical area would be detected. With two independent warning zones, the respective lane would be monitored both to the left and right of the vehicle. A further advantage would be that the targeted adjustment of the warning zone to specific distances should improve the system's efficiency and precision. By informing the driver in a timely manner about hazards on the relevant side, the system could optimize their reaction time and increase road safety.
[0036] For example, the driving parameters include historical speeds and a current speed of the vehicle, as well as historically driven turning radii and a currently driven turning radius of the vehicle, and / or the sensor data further include an object's width, an object's turning radius, and a probability of the object's existence.8 2024PF01969
[0037] For example, the probability of existence could describe the degree of certainty with which a detected object is actually present in the vicinity of the vehicle. This probability would likely be calculated based on sensor data and could depend on how reliably and consistently the object is detected by the various sensors, such as radar or camera, over multiple measurement cycles. For example, the probability of existence of the object must exceed a threshold for the object to be considered as such. For example, the threshold for the probability of existence could be 90%, specifically 95%, specifically 99%. The threshold could also be any other value and / or be configurable and / or dynamically adjustable. An object that, for example,An object with a probability of existence of over 90% is likely to be real, while an object with a lower probability of existence may represent a misinterpretation or a temporary obstacle.
[0038] The curve radius could describe the curvature of the path traveled by the vehicle or a detected object. A smaller curve radius would indicate a sharper curve, while a larger curve radius would indicate a smoother curve. For example, a curve radius of 65 meters could indicate a tight curve, while a radius of 200 meters suggests a gentler curve. Historical curve radii could be used to analyze the vehicle's previous trajectories and better predict future movements.
[0039] For example, the turning radius could be calculated by dividing the speed of the vehicle and / or object by the yaw rate. The yaw rate could describe the vehicle's rotational speed around its vertical axis, i.e., the speed at which the vehicle is permitted to turn. Mathematically, the turning radius R is given, for example, as the quotient of the current speed v and the yaw rate <]J : R =
[0040] This information could offer several advantages: Including the probability of existence should help increase the system's accuracy by reducing false alarms. Only objects with a high probability would be recognized as potential collision hazards, which could increase the warning system's efficiency. The curve radius, in turn, could allow the system to react precisely to the driving environment and adjust the warning zone accordingly. This should be particularly beneficial on tight curves, as the system could identify potential hazards in the curve area more precisely and accurately. Overall, this could optimize the driver's reaction time and reduce the risk of a collision.
[0041] For example, a vehicle's driving path is determined from the historical speeds and the current speed, as well as the historical curve radii and the current curve radius, whereby a driving path line is determined based on the driving path.
[0042] For example, the driving profile describes the distance traveled by a vehicle, which is composed of historical speeds and turning radii, as well as the current speed and turning radius. The driving profile thus represents a kind of movement pattern of the vehicle, providing information about how the vehicle has moved over time, including accelerations, decelerations, and changes of direction. For example, the driving profile is calculated only for a specific distance. For example, the driving profile is calculated only up to the longitudinal end of the warning zone. In one example, the driving profile is calculated for the last 70m traveled (example length of the warning zone) + 3m (example distance between the rear of the vehicle and the warning zone). As mentioned above, other values besides 70m and 3m are also conceivable.
[0043] For example, the vehicle path line could be a simplified linear representation of the vehicle's journey, depicting the actual distance traveled by the vehicle as a single continuous line. This representation could be limited to a specific distance, such as 70m + 3m (see example above), or other values, so that the vehicle's essential movement patterns are presented compactly and clearly. The vehicle path line would summarize historical and current driving parameters such as speed and turning radii and display them as a continuous line.
[0044] The advantages of a vehicle path line based on the vehicle's movement pattern could be manifold: Firstly, the vehicle path line should offer a compact and clear representation of the vehicle's actual movement pattern by summarizing relevant parameters such as speed and turning radii in a single, easily understandable line. Limiting the vehicle path line to a specific distance, e.g., 70m plus the additional distance to the warning zone (e.g., 3m), could reduce the amount of data and thus optimize computing power. This compact representation of the recently traveled path could facilitate the adjustment of the warning zone, as only the most recent and therefore most relevant movements would be considered. Finally, the precise mapping of vehicle movement using the vehicle path line should help to efficiently identify potential hazards and minimize unnecessary alarms by, for example, adjusting the warning zone accordingly.refers precisely to the distance travelled and relevant.
[0045] For example, the distance line is represented by a multitude of reference points, wherein the reference points are arranged at a first distance from each other and at a second distance from the driving path line, wherein the time until the possible collision is further determined on the basis of the reference points.
[0046] For example, all distances and / or spacings and / or distances specified in this application can be specified with a tolerance of ±10%, preferably ±5%, preferably ±3%, particularly preferably ±1% and / or have a tolerance in these ranges.
[0047] For example, determining the time to collision based on the distance line and the relative velocity involves: defining a reference point on the object, where the reference point has the shortest possible longitudinal distance to the vehicle; and moving the reference point onto the distance line by means of an orthogonal projection, where the intersection between the reference point and the distance line represents a position of the object for determining the time to collision.
[0048] For example, the procedure and / or determining the time until collision based on the distance line and the relative velocity further includes: calculating a distance from the object to the vehicle along the distance line, wherein the distance is calculated from the summed first distances of the reference points located between the object and the vehicle; and determining the time until the possible collision based on the relative velocity and the calculated distance.
[0049] For example, the reference points represent the path between the vehicle and a potential collision object and serve to efficiently measure the distance between the vehicle and the object along the distance line. For example, the first distance is lm. It can also be any value other than lm and / or be configurable and / or dynamically adjustable. The reference points simplify the calculation of the distance between the object and the vehicle by being regularly positioned along the vehicle's path, thus providing a stable basis for the distance calculation.11 2024PF01969
[0050] Orthogonal projection is a mathematical method in which a point is mapped onto a line or plane such that the line segment connecting the point and its image point is perpendicular to that line or plane. In the context of the invention, this would mean that a reference point on the object, which would have the shortest possible longitudinal distance to the vehicle, would be shifted onto the distance line by means of an orthogonal projection. The intersection between the reference point and the distance line would then represent the position of the object for determining the time until the collision.
[0051] A key advantage of using reference points to determine the collision time lies in the efficiency of this approach: The system can easily calculate the distance between the vehicle and the object by summing the distances between the reference points. This provides a fast yet accurate method for calculating an approximation of the time until the potential collision. The collision time is based on the object's relative velocity to the vehicle, which does not necessarily have to match the object's vector velocity along the distance line. In other words, the relative velocity used is likely to be... However, if a more precise calculation were required, the object's exactly calculated vector velocity along the distance line could alternatively be used.This approach could therefore allow the system to work efficiently and in a resource-saving manner by quickly calculating the collision time based on the simple reference point structure.
[0052] For example, no warning will be issued if a deactivation period has expired and: the current speed of the vehicle is below a speed threshold; or the turning radius of the vehicle is below a radius threshold.
[0053] For example, no warning will be issued if the vehicle meets certain conditions that justify deactivating the warning function. One such condition could be the vehicle's current speed: if it falls below a defined speed threshold, such as 10 km / h or any other example value, the warning function would be automatically deactivated after a specified deactivation period. Similarly, deactivation could occur if the vehicle's turning radius falls below a certain value, such as 65 meters or any other value indicating a particularly tight turn. Therefore, if the vehicle is traveling slowly or taking sharp turns for at least a certain period of time, which could be, for example, 1.2 seconds or any other value, the warning function could be switched off to avoid unnecessary alarms.
[0054] These parameters could offer several advantages: The system should operate more efficiently in situations where a high risk of collision is unlikely, thus avoiding overwhelming the driver with unnecessary warnings. The defined thresholds for speed and curve radius could ensure that the warning system remains active only when a potential risk actually exists, thereby conserving resources. This could increase the accuracy of the warnings by limiting the functionality to relevant traffic situations.
[0055] For example, if no warning is issued and the deactivation period has expired, the warning zone is regenerated with a defined current curve radius of infinity (°°) and defined historical curve radii of infinity (»), provided that: a first reset period has expired and the current speed of the vehicle is below the speed threshold; or a second reset period has expired and the curve radius of the vehicle is below the radius threshold.
[0056] For example, a current and / or historical curve radius of infinity corresponds to a straight line traveled. A current and / or historical curve radius of infinity could correspond to a curvature value of 0. Thus, an assumed / hypothetical straight-line driving path of the vehicle could result.
[0057] The warning zone could automatically reset to its original, straight shape after a specified time. This original, straight shape is the shape the warning zone(s) would have if the vehicle were simply driving straight ahead. The duration after the reset can depend on the type of deactivation. If the deactivation was due to an excessively small turning radius, the system could reset the warning zone shape after an additional 1.2 seconds (or any other value) on top of the initial time interval, which could also be 1.2 seconds or any other value. This would result in a total of 2.4 seconds after the initial deactivation due to the small radius. Conversely, if the deactivation was due to insufficient speed (see above), the system could reset the warning zone shape after an additional 1.2 seconds (or any other value) on top of the initial 1.2 seconds (or any other value).After a waiting period of 2.8 seconds (or any other value, totaling 4 seconds after the initial deactivation), the warning zone is reset to its default straight shape. This staggered reset allows the system to react flexibly depending on the driving situation and to reset the warning zone to its initial state as soon as the vehicle reaches more stable driving conditions.
[0058] This approach could offer several advantages: Firstly, the system would operate more efficiently, as unnecessary alarms would be avoided in situations where the risk of collision is very low, such as at low speeds or on tight bends. By automatically resetting the warning zone to its default state after defined intervals, the system could concentrate its resources on relevant driving situations, warning the driver only when there is a realistic risk of collision. Furthermore, differentiating between short and long reset times could allow the system to be specifically adapted to the respective driving situation, thus increasing both the accuracy and efficiency of the collision warning.
[0059] For example, no warning is issued if the object is located between two facing sides of the first warning zone and the second warning zone, and / or if the object is located on a line that borders one of the warning zones on the side facing the other warning zone, and / or if the object is traveling in the opposite direction to the vehicle.
[0060] For example, the system could be configured so that no warning is issued if an object is located between the inner edges of the two lateral warning zones. It's also possible that the object is not entirely between the two inner edges, but rather, for example, travels along one of the lines defining a warning zone, with the boundary line facing the other warning zone. In this case, the object is also approximately located between the two inner edges of the two lateral warning zones, even if it is traveling along one of the inner edges of a warning zone. This means, for example, that the object is behind the vehicle and occupies a position between the two lateral warning zones, which are primarily intended for objects approaching from the side behind the vehicle.Since these side warning zones may be specifically designed for potential collisions with vehicles or obstacles approaching from the side, the system might deliberately refrain from issuing a warning for objects directly behind the vehicle. Such objects typically fall within the monitoring range of other assistance systems, such as a conventional reversing or collision warning system, which, for example, covers the area behind the vehicle.14 2024PF01969
[0061] This specialized focus of the warning zones on the sides of the vehicle could offer several advantages: Firstly, the system would react specifically to driving situations where there is a risk of a side collision, without burdening the driver with additional, redundant warnings for objects directly behind the vehicle. Secondly, the clear separation of the monitoring areas could increase the efficiency of the overall system, as the assistance systems are each optimized for their specific area. This should ensure that warnings are only issued in truly relevant driving situations, thus improving the driver's reaction time and reducing false alarms.
[0062] In the following, similar elements are marked with the same reference symbols.
[0063] In principle, the warning zones shown below as examples can take any shape, in particular rectangular and / or curved-rectangular shapes. For the sake of simplicity, however, they are shown as examples in either a rectangular or curved-rectangular shape. It is self-evident to those skilled in the art that warning zones shown as rectangular can also be curved-rectangular, and vice versa. Furthermore, those skilled in the art understand that the singular term "warning zone" can refer to multiple warning zones, and the plural term "warning zones" can refer to only one warning zone.
[0064] Figure 1 shows a method for issuing a warning.
[0065] In procedure 100 for issuing a warning, vehicle driving parameters are received (102). In block 104, sensor data relating to an object are received, wherein the sensor data include at least a relative speed and a relative position of the object to the vehicle. In block 106, at least one warning zone relative to the vehicle's surroundings is generated based on the vehicle's driving parameters, wherein the geometric shape of the respective warning zone depends on the driving parameters. In the case that the object is located at least partially within the at least one warning zone, procedure 100 further includes determining a distance line between the object and the vehicle in block 108, wherein the distance line runs partially within one of the respective at least one warning zone. It then also includes determining a time until the possible collision based on the distance line and the relative speed in block 110.It also includes issuing the warning in block 112 before the potential collision if the time until the potential collision falls below a predefined threshold.15 2024PF01969.
[0066] Figure 2 shows a vehicle with two generated warning zones, towards which an object is approaching from behind.
[0067] In the example of Figure 2, the warning zone comprises a first warning zone 200 and a second warning zone 202, both of which are located at an equal longitudinal distance behind the vehicle 204, and wherein the warning zones 200, 202 are located at an equal lateral distance on a first side and second side of the vehicle 204 respectively.
[0068] For example, a longitudinal distance range 208 is defined between the bumper of the vehicle 204 and the beginning of the warning zones 200, 202, which is, for example, 3 m. However, the longitudinal distance range 208 can also assume any other value. Furthermore, a lateral distance range 210 is defined, which can refer to the transverse axis of the vehicle. The lateral distance range 210 could encompass the area towards the side of the vehicle and, in the example of Figure 2, could begin at 0.5 m from the outermost edge of the vehicle, without taking the exterior mirrors into account.
[0069] Figure 2 further shows an object 206 approaching, for example, vehicle 204 from behind. In Figure 2, object 206 is another vehicle. Object 206 could have its own speed, just as vehicle 204 could. As explained in the procedure, sensor data is received that includes the relative speed of object 206 to vehicle 204. In Figure 2, the absolute speed of object 206 could be significantly higher than that of vehicle 204, which could be represented by the different lengths of the arrows in front of the object and the vehicle, respectively.
[0070] In this case, object 206 is likely approaching vehicle 204 rapidly from behind. Therefore, the relative speed of object 206 to vehicle 204 is likely to be positive. This would be because object 206 could be moving towards vehicle 204, thus reducing the distance between them. A positive relative speed in this context would indicate that object 206 could be traveling faster than vehicle 204 and is approaching, which could signal a potential collision risk.
[0071] Furthermore, in the example shown in Figure 2, object 206 is at least partially located within warning zone 200. Therefore, according to procedure 100, a distance line between the object and the vehicle is determined, the time until the potential collision between object 206 and vehicle 204 is calculated, and a warning is issued accordingly.16 2024PF01969
[0072] Figure 3 shows a vehicle with two warning zones, towards which two objects are approaching from behind.
[0073] The example in Figure 3 shows the same elements as the example in Figure 2. Therefore, please also refer to the description in Figure 2. In the example in Figure 3, object 206 has already moved closer to vehicle 204. Figure 3 also shows a second object 302, which is at least partially within the second warning zone 202. Since this object 302 can also have a positive relative speed to vehicle 204, a warning would also be generated here (see example procedure 100, or the example in Figure 2). In total, two warnings are generated independently of each other in the example in Figure 2: one for object 206 within warning zone 200, and one for object 302 partially within warning zone 202.
[0074] Figure 4 shows a vehicle with two warning zones that are dynamically generated from the driving profile.
[0075] In the example of Figure 4, some of the same elements are used as in the example of Figure 2. Therefore, please also refer to the description of the example of Figure 2.
[0076] Figure 4 shows vehicle 404, which has previously driven around a curve. This is determined from the vehicle's driving parameters, which can include historical speeds, the vehicle's current speed, historically driven curve radii, and the vehicle's current curve radius. For example, a driving profile of the vehicle is determined from the historical speeds, the current speed, the historical curve radii, and the current curve radius, and a driving profile line 408 is determined based on this driving profile.
[0077] Furthermore, the example in Figure 4 shows two curved warning zones 400 and 402, the bending or curvature arising from the fact that the driving path line 408 is also curved. The curvature of the warning zones 400 and 402 can thus result from the curvature of the driving path line 408. The driving path line 408, in turn, can be determined from the driving path of the vehicle 404. Also shown in the example in Figure 4 is a distance line 410 between an object 406 and the vehicle 404.
[0078] In the example shown in Figure 4, the distance line is represented by a plurality of reference points, which are arranged at a first (constant) distance to each other and at a second distance to the driving path line. The driving path line 408 and the distance line 410 do not necessarily have to be exactly parallel. Parallelism could result from the fact that the reference points of the distance line 410 can all be arranged at the same distance to the driving path line 408. Since exact parallelism is not required, this distance can, for example, have a tolerance of ±10%, preferably ±5%, preferably ±3%, and particularly preferably ±1%. The principle of representing the distance line by the reference points could also be applied to all other examples and / or figures shown here, in particular to the examples in Figures 2 and 3.
[0079] The reference points along distance line 410 could be updated cyclically to adapt to the movement of vehicle 404. With each update, the reference point closest to vehicle 404 could receive its current position, while the remaining reference points would be shifted accordingly along distance line 410, so that the furthest point represents the oldest position. This would allow distance line 410 to reflect the vehicle's movement and be continuously adjusted to its current position.
[0080] Warning zones 400 and 402 could also be updated as long as the speed of vehicle 404 exceeds a certain minimum value and the curve radius is above a threshold. If the vehicle were to drive through a particularly tight curve for an extended period (for example, with a curve radius of less than 65 m) or if the speed were to fall below the minimum value (for example, less than 10 km / h), the warning zone update could be temporarily deactivated and the warning zone reset to its original, straight shape. This reset could be equivalent to regenerating the warning zone with a defined current curve radius of infinity and defined historical curve radii of infinity.
[0081] To determine the distance between object 406 and vehicle 404 more accurately in the example shown in Figure 4, object 406 could be projected onto distance line 410 using an orthogonal projection. First, the corner of object 406 closest to the nearest reference point would be identified. The sensor data could, for example, include the width of object 406. This corner would then be projected onto the line between the reference points of distance line 410, allowing the shortest distance between this corner and distance line 410 to be determined.18 2024PF01969
[0082] In the example shown in Figure 4, the time until a potential collision is determined based on reference points, all of which are spaced at an exemplary distance of lm from each other. The reference points along the distance line 410 could be arranged at regular intervals of lm, or any other value, thus providing a uniform basis for calculating the distance. The distance between object 406 and vehicle 404 could then be calculated by summing the distances of the reference points along the distance line 410 between the projected point of object 406 and vehicle 404. This method should allow for a quick yet precise estimation of the distance.
[0083] The time to collision (TTC) could ultimately be calculated as the ratio of the calculated distance along distance line 410 to the relative speed of object 406 to vehicle 404. If the TTC were to fall below a predefined threshold, a warning could be issued.
[0084] In the example of Figure 4, a warning is also generated analogously to the example of Figure 2, because the driving parameters of vehicle 404 correspond to the driving parameters of vehicle 204, and object 406 is approaching vehicle 404 from behind at a positive relative speed.
[0085] Furthermore, it should be noted that the example of warning zones generated from the driving path in Figure 4 can also be applied to the examples in Figures 2 and 3, which include straight warning zones, as well as to all subsequent examples and figures with straight driving paths. This means that, for example, even when driving straight, the current direction of travel / speed / curve radius and the history of driving parameters, such as historical speeds and curve radii, are taken into account. This means that, for example, in the examples in Figures 2 and 3, as well as the following examples and / or figures, the vehicle's driving path is determined from the historical and current speeds, as well as the historical and current curve radii.Based on this driving path, a corresponding driving path line can then be generated, which can form the basis for the shape and orientation of the warning zones and enable a precise representation of the vehicle's driving path.
[0086] Figure 5 shows an object approximately between two warning zones.
[0087] In the example shown in Figure 5, two warning zones 500 and 502 are depicted. For the sake of simplicity, the warning zones in Figure 5 are rectangular, but they can also be curved, as in Figure 4.19 2024PF01969 The example also shows a vehicle 504 and an object 506 approaching the vehicle from behind. The object 506 could be traveling on the line that defines the inner boundary of warning zone 502. In other words, the object could, for example, be on a line that defines the boundary of warning zone 502 on the side facing warning zone 500. It could also, for example, be on a line that defines the boundary of warning zone 500 on the side facing warning zone 502, although this latter case is not shown in Figure 5.
[0088] In the example shown in Figure 5, no warning is issued because object 506 is located almost entirely behind vehicle 504. Such objects typically fall within the monitoring range of other assistance systems, such as a conventional reversing or collision warning system, which, for example, covers the area behind the vehicle.
[0089] Figure 6 shows an object partially on a longitudinal side of a warning zone inclined towards a vehicle.
[0090] Figure 6 shows two warning zones, 600 and 602. For simplicity, the warning zones in Figure 6 are rectangular, but they can also be curved, as in Figure 4. The example also shows a vehicle 604 and an object 606 approaching the vehicle from behind. Figure 6 illustrates two possible scenarios: either only 10% of object 606 overlaps with the warning zone, or a threshold is defined specifying what percentage of object 606 must be within the warning zone. In Figure 6, this threshold is 25%. Since the threshold is not exceeded in this example, the additional blocks 108, 110, and 112 of procedure 100 are not executed, and no warning is issued.
[0091] Alternatively / additionally, it is detected, for example, that the object 606 might be partially located within the longitudinal side of the warning zone facing the vehicle 604. For example, in the example of Figure 6, it is specified that the object 606 must be partially located within the warning zone on a specific side for the subsequent blocks 108, 110, 112 of procedure 100 to be carried out. This side could be the longitudinal side 608 facing away from the vehicle 604. For example, it might not be sufficient for the object 606 to be located on one of the lateral sides of the warning zone relative to the vehicle 604 or partially within the longitudinal side facing the vehicle 604. Since the object 606 is, for example, partially located within the longitudinal side of the warning zone 600 facing the vehicle 604, no warning is issued.
[0092] Figure 7 shows an object traveling in the opposite direction on the side of a vehicle. 20 2024PF01969
[0093] In the example shown in Figure 7, two warning zones 700 and 702 are depicted. For simplicity, the warning zones in Figure 7 are rectangular, but they can also be curved, as in Figure 4. The example also shows a vehicle 704 and an object 706 approaching the vehicle from the front. In the example shown in Figure 7, the object 706 is not even partially within warning zone 700 (or 702). For this reason alone, the other blocks 108, 110, and 112 of procedure 100 are not executed in this example, and no warning is issued. Even if the object 706 were, for example, within or partially within warning zone 700, no warning would be issued for the following reasons. For example, the procedure also includes: detecting that an object 706 has a negative relative speed to the vehicle 704; and preventing the issuance of a warning.In other words, the procedure would, for example, recognize that the relative speed of object 706 in relation to vehicle 704 is negative and therefore would not issue a warning.
[0094] The system could also and / or additionally detect that object 706 is not moving in the same direction as vehicle 704 and therefore does not pose a hazard approaching from behind. It would be irrelevant that object 706 is in the adjacent lane, i.e., at a lateral distance from vehicle 704. For this reason, no warning can be issued. The system could also and / or additionally detect that object 706 is not at a longitudinal distance behind vehicle 704. For this reason, no warning could be issued either.
[0095] Figure 8 shows an object between two warning zones.
[0096] In the example shown in Figure 8, two warning zones 800 and 802 are depicted. The warning zones in Figure 8 are curved, but could also be rectangular. Also shown in the example are a vehicle 804 and an object 806 approaching the vehicle from behind. In the example shown in Figure 8, the object 806 is located between two facing sides of warning zone 800 and warning zone 802. For this reason, no warning would be issued.
[0097] Figure 9 shows a vehicle after a U-turn.
[0098] In the example shown in Figure 9, two warning zones 900 and 902 are depicted. The warning zones in Figure 9 are curved because, in this example, vehicle 904 has made a U-turn (a 180-degree turn / hairpin bend). Also shown in the example are vehicle 904 and an object 906 approaching the vehicle from behind. Since the vehicle in Figure 9 has made a U-turn (a 180-degree turn / hairpin bend), no warning is generated. This can be defined, for example, by ensuring that no warning is issued if vehicle 904 has performed a U-turn (21 2024PF01969) in which the direction of travel of vehicle 904 has been changed by more than 150 degrees, in particular by more than 160 degrees, and in particular by more than 170 degrees, relative to its original direction of travel.An alternative wording would be that, for example, in the case where vehicle 904 has executed a turn involving a change of direction of more than 150 degrees, in particular more than 160 degrees, in particular more than 170 degrees, thereby steering vehicle 904 in the opposite direction to an original direction of travel, no warning will be issued.
[0099] Figure 10 shows a vehicle during a turning maneuver.
[0100] In the example shown in Figure 10, two warning zones 1000 and 1002 are depicted. Also shown is a vehicle 1004, which is currently turning right. An object 1006, located behind vehicle 1004, is also shown, as well as an object 1008, which would be located in a lane adjacent to vehicle 1004 in the future. During the depicted turning maneuver, vehicle 1004 might have to stop as it enters the traffic containing object 1008. The warning could be deactivated if vehicle 1004 had to stop during a U-turn. This could be detected by the vehicle dropping below a certain speed threshold. The shape of warning zones 1000 and 1002 would be regenerated with a defined current curve radius of infinity and defined historical curve radii of infinity as soon as vehicle 1004 starts moving again and reaches a speed threshold.The redesign of warning zones 1000 and 1002 could mean that they take on a rectangular shape. The speed threshold could be, for example, 10 km / h, or any other value.
[0101] Although the invention is illustrated and described in detail in the drawings and the preceding description, this illustration and description is to be regarded as exemplary and not limiting; the invention is not limited to the disclosed examples.
[0102] The person skilled in the art will understand that aspects of the present invention may be implemented as a device, a method, or a computer program or computer program product. Accordingly, aspects of the present invention may take the form of a purely hardware embodiment, a purely software embodiment (including firmware, software in memory, microcode, etc.), or an embodiment combining software and hardware aspects, all of which may be generally referred to herein as a "circuit," "module," or "system." Furthermore, aspects of the present invention may take the form of a computer program product, which is carried by one or more computer-readable media in the form of computer-executable code. A computer program also comprises computer-executable code. "Computer-executable code" may also be referred to as "computer program instructions."
[0103] Any combination of one or more computer-readable media may be used. The computer-readable medium may be a computer-readable signaling medium or a computer-readable storage medium. A "computer-readable storage medium," as used herein, comprises a physical storage medium capable of storing instructions executable by a processor of a computer device. The computer-readable storage medium may be referred to as a computer-readable non-volatile storage medium. The computer-readable storage medium may also be referred to as a tangible computer-readable medium. In some embodiments, a computer-readable storage medium may also be capable of storing data that enables access to it by the processor of the computer device.Examples of computer-readable storage media include, but are not limited to: a floppy disk, a magnetic hard disk, a solid-state hard disk, flash memory, a USB flash drive, random access memory (RAM), read-only memory (ROM), an optical disk, a magneto-optical disk, and the processor's register file. Examples of optical disks include compact discs (CDs) and digital versatile disks (DVDs), for example, CD-ROM, CD-RW, CD-R, DVD-ROM, DVD-RW, or DVD-R discs. The term computer-readable storage medium also refers to various types of recording media suitable for being accessed by the computer device via a network or communication link. For example, data can be accessed via a modem, the internet, or a local area network.Computer-executable code running on a computer-readable medium may be transmitted via any suitable medium, including but not limited to wireless, wired, fiber optic, RF, etc., or any suitable combination of the foregoing media.
[0104] A computer-readable signaling medium can include a propagated data signal containing the computer-readable program code, for example, in a baseband signal or as part of a carrier signal (carrier wave). Such a propagation signal can be in any form, including, but not limited to, an electromagnetic form, an optical form, or any suitable combination thereof. A computer-readable signaling medium can be any computer-readable medium that is not a computer-readable storage medium and that can transmit, propagate, or transport a program for use by or in conjunction with a system, device, or apparatus for executing instructions.
[0105] "Computer memory" or "memory" is an example of a computer-readable storage medium. Computer memory is any memory that is directly accessible to a processor.
[0106] "Computer data storage" or "data storage" is another example of a computer-readable storage medium. Computer data storage is any non-volatile, computer-readable storage medium. In some embodiments, computer memory can also be computer data storage, or vice versa.
[0107] A "processor," as used herein, comprises an electronic component capable of executing a programmatically or machine-executable instruction or computer-executable code. References to the computing device comprising a "processor" should be interpreted to mean that it may include more than one processor or processing cores. The processor may, for example, be a multi-core processor. A processor may also refer to a collection of processors within a single computer system or distributed across multiple computer systems. The term computing device or computer should also be interpreted to mean, possibly, a collection or network of computing devices or computers, each comprising a processor or processors.The computer executable code can be executed by multiple processors, which may be located within the same computer device or even distributed across multiple computers.
[0108] Computer-executable code may comprise machine-executable instructions or a program that causes a processor to perform an aspect of the present invention. Computer-executable code for performing operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or similar languages, and conventional procedural programming languages such as the programming language "C" or similar programming languages, and translated into machine-executable instructions. In some cases, the computer-executable code may be in the form of a higher-level programming language or in a pre-translated form, and used in conjunction with an interpreter that generates the machine-executable instructions.
[0109] The computer-executable code can run entirely on a user's computer, partially on the user's computer as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, via the internet using an internet service provider).
[0110] Computer program instructions can be executed on one processor or on multiple processors. In the case of multiple processors, these can be distributed across several different entities (e.g., clients, servers). Each processor could execute a portion of the instructions intended for its respective entity. Therefore, when referring to a system or procedure that encompasses multiple entities, the computer program instructions are understood to be adapted to be executed by a processor assigned to or associated with each entity.
[0111] Aspects of the present invention are described with reference to flowchart representations and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the invention. It is noted that each block or parts of the blocks of the flowcharts, representations, and / or block diagrams can be executed by computer program instructions, optionally in the form of computer-executable code. It is further noted that combinations of blocks in different flowcharts, representations, and / or block diagrams can be combined, provided they are not mutually exclusive.These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing device to create a device such that the instructions executed by the processor of the computer or other programmable data processing device generate means for performing the functions / steps specified in the block or blocks of the flowcharts and / or block diagrams.25 2024PF01969.
[0112] These computer program instructions may also be stored on a computer-readable medium capable of controlling a computer or other programmable data processing equipment or other devices to function in a particular manner, such that the instructions stored on the computer-readable medium produce a manufactured product, including instructions that implement the function / step specified in the block(s) of the flowcharts and / or block diagrams.
[0113] The computer program instructions can also be stored on a computer, other programmable data processing devices, or other devices to cause the execution of a series of process steps on the computer, other programmable data processing devices, or other devices to generate a process executed on a computer, such that the instructions executed on the computer or other programmable devices generate procedures for implementing the functions / steps specified in the block or blocks of the flowcharts and / or block diagrams.26 2024PF01969 LIST OF REFERENCE MARKS 100 methods for issuing a warning Block 102 for receiving vehicle driving parameters; Block 104 for receiving sensor data 106 blocks for generating a warning zone 108 Block for determining a distance line Block 110 to determine the time until the possible collision; Block 112 to issue the warning 200 warning zone 202 Warning Zone 204 vehicles 206 objects 208 longitudinal spacing range 210 lateral spacing range 302 second object 400 Warning Zone 402 Warning Zone 404 Vehicle 406 Object 408 Route 410 Distance line 500 warning zone 502 Warning Zone 504 vehicle 506 object 600 Warning Zone 602 Warning Zone 604 vehicles 606 object 608 Longitudinal side of the warning zone facing the vehicle 700 Warning zone 702 Warning Zone 704 vehicles 706 Object in oncoming traffic TI 2024PF01969 800 Warning Zone 802 Warning Zone 804 vehicles 806 object 900 Warning Zone 902 Warning Zone 904 vehicles 906 object 1000 warning zone 1002 Warning Zone 1004 vehicles 1006 Object behind the vehicle during the turning maneuver 1008 Object in the adjacent lane during the turning maneuver
Claims
1. 28 2024PF01969 REQUIREMENTS 1. A method for issuing a warning, wherein the method comprises: • Receiving vehicle driving parameters (204); • Receiving sensor data relating to an object (206), wherein the sensor data include at least a relative velocity and a relative position of the object (206) to the vehicle (204); • Generating at least one warning zone (400, 402) relative to the vehicle's environment (204) based on the vehicle's driving parameters (204), wherein a geometric shape of the respective warning zone (400, 402) depends on the driving parameters; where, in the event that the object (206) is located at least partially within at least one warning zone (400, 402), the procedure further includes: • Determining a distance line (410) between the object (206) and the vehicle (204), wherein the distance line (410) runs partly within one of the at least one warning zones (400, 402); • Determining the time until the possible collision based on the distance line (410) and the relative velocity; and • Issuing a warning about a potential collision if the time until the potential collision falls below a predefined threshold.
2. Method according to claim 1, wherein the course of the distance line (410) is determined on the basis of the driving parameters and the sensor data and / or wherein the warning zone (400, 402) comprises a first warning zone (400) and a second warning zone (402), both of which are located at an equal longitudinal distance behind the vehicle (204), and wherein the warning zones (400, 402) are located at an equal lateral distance on a first side and second side of the vehicle (204), respectively.
3. Method according to one of the preceding claims, wherein the driving parameters include historical speeds and a current speed of the vehicle (204) as well as historically driven curve radii and a currently driven curve radius of the vehicle (204) and / or wherein the sensor data further include a width of the object (206), a curve radius of the object (206) and a probability of existence of the object (206).
4. Method according to claim 3, wherein a driving path of the vehicle (204) is determined from the historical speeds and the current speed and the historical curve radii and the current curve radius, wherein a driving path line (408) is determined on the basis of the driving path.
5. The method of claim 4, wherein the distance line (410) is represented by a plurality of reference points, the reference points being arranged at a first distance from each other and at a second distance from the driving path line, the time until the possible collision being further determined on the basis of the reference points. 29 2024PF01969 6. Method according to any one of the preceding claims 3-5, wherein no warning is issued when a deactivation period has expired and: • the current speed of the vehicle (204) is below a speed threshold; or • the curve radius of the vehicle (204) is below a radius threshold value.
7. Method according to claim 6, wherein, in the event that no warning is issued and the deactivation period has expired, the warning zone (400, 402) is regenerated with a defined current curve radius of infinity and defined historical curve radii of infinity, provided that: • a first reset time interval has elapsed and the current speed of the vehicle (204) is below the speed threshold; or • a second reset time interval has elapsed and the curve radius of the vehicle (204) is below the radius threshold.
8. Method according to any one of the preceding claims 2-7, wherein no warning is issued if the object (206) is located between two facing sides of the first warning zone (400) and the second warning zone (402) and / or if the object (206) is located on a line that limits one of the warning zones (400, 402) on the side facing the other warning zone (400, 402) and / or if the object (206) is traveling in the opposite direction of speed to the vehicle (204).
9. A computer program comprising machine-executable instructions for execution by a computer system, wherein the execution of the machine-executable instructions causes the computer system to perform the method according to any of the preceding method claims.
10. System comprising a means configured to carry out all steps of the method according to a preceding method claim.