DE102016007630A1 - Method for determining an emergency braking situation of a vehicle and device for carrying out the method - Google Patents

Abstract

The invention relates to a method for determining an emergency braking situation of a vehicle (1), in particular commercial vehicle with an emergency braking system (6), wherein objects (10.i, 15.1, 15.2) in an angular range (B) along a direction of travel (F) of the vehicle ( 1), whereby moving objects (15.1, 15.2) and stationary objects (10.i) are detected. According to the invention, it is provided that the objects (10.i) recognized as standing are checked for plausibility, a relevance level (Ri) being determined for each stationary object (10.i), the relevance level (Ri) of the stationary object (10. i) is determined depending on whether the moving object (15.1, 15.2) has passed the stationary object (10.i); a collision probability (P) with respect to the stationary object (10.i) is evaluated as a function of the determined relevance level (R.i) of the stationary object (10.i); and output or suppress an emergency brake signal (S1) depending on the collision probability (P).

Description

The invention relates to a method for determining an emergency braking situation of a vehicle, in particular a utility vehicle with an emergency braking system, as well as an emergency braking system for carrying out the method.

There are vehicles, especially commercial vehicles, known which are equipped with an emergency braking system (AEBS) as part of the braking system, which autonomously cause a braking of the vehicle in an emergency braking situation. For this purpose, by means of an environment detection system objects lying ahead, in particular vehicles, detected on a road and evaluated based on the driving dynamics of the own vehicle relative to the present-lying object a collision probability. In this case, the environment detection system has, for example, a radar sensor or a LIDAR sensor and possibly also a camera, by means of which an environment in front of the own vehicle is scanned in an angular range, so that a vehicle or any other object can be detected in front of the own vehicle ,

To determine the probability of collision by the emergency braking system, the objects ahead are first assessed for their relevance, i. H. if they are even suitable for a collision. For this purpose, it can be taken into account, for example, whether the object ahead is on the same lane or on a two- or multi-lane road on an adjacent lane. Furthermore, a classification of objects can take place in order to distinguish a stationary vehicle on the roadway, for example at a jam end, from a warning sign or information sign above or beside the roadway. When determining an imminent accident situation, both moving and completely stationary objects are considered, whereby only stationary objects are to be considered for assessing the collision probability, which stand in particular on the same lane as the own vehicle and thus classified as relevant for a threatening Collision.

For detecting objects in front of a vehicle for controlling the travel speed of a vehicle in an adaptive cruise control (ACC) is according to DE 100 15 300 A1 provided to regulate the speed of the vehicle upon detection of a stationary or standing object depending on how high a relevance level of the detected object is. In particular, the distance of the stationary object from its own vehicle, a lateral offset of the object relative to its own lane and the length of the time span within which the object is located in the lane are used to determine the relevance level of the detected, stationary object. Furthermore, transverse movements of the object as well as a decrease in the intensity of the radar echo can also be taken into account. If a relevant object detected, in particular an intervention in the brake system is provided to actively decelerate the vehicle.

According to EP 0 924 119 B1 Depending on different criteria, a stationary object is classified as relevant or not relevant, wherein the criteria include in particular how far the vehicle is from the stationary object and how high the speed of the own vehicle is.

The disadvantage here is that not every object recognized as standing in front of the vehicle is relevant for triggering a warning or an autonomous braking of the vehicle. This may result in unwanted false warnings and possibly even mal-braking of the vehicle, which are ignored by the driver. If the driver perceives these false warnings more frequently, there is a risk that he will also ignore future relevant warnings; the safety in an imminent emergency situation drops.

According to the DE 10 2005 024 716 A1 a classification of detected objects is provided, wherein an environment detection system, in particular a radar sensor, the environment is radiated and based on the reflected electromagnetic radiation, which are reflected at the objects, a classification is performed. Accordingly, the reflected electromagnetic radiation is analyzed in more detail and, for example via the frequency-dependent power over the frequency spectrum and by the spatial distribution of the reflection points creates a characteristic pattern of the detected object, the characteristic pattern varies depending on the object. The resulting characteristic pattern is then matched with stored characteristic patterns, so that it can be concluded on the object type. Thus, for example, as a type of object a truck, a passenger car, two-wheelers, manhole covers, crash barriers or other objects can be assigned.

The disadvantage here is that not every object can be classified. Another disadvantage is that each object of the same kind can vary in its physical properties and thus a reliable classification into the stored classification is not always possible. In addition, new physical properties that affect the reflectance can be added, so that such a system is always up to date. Thereby can Fault warnings and in the worst case, unauthorized emergency braking occur.

In EP 2 405 416 B1 Another system is shown in which additional camera signals are processed to assess the relevance of objects by correlating the sensor signals from the radar sensor with those of the camera. Furthermore, matching with images from a memory is possible to identify objects. The disadvantage here is that the emergency brake system with an additional camera nach- or is to equip, which is expensive and also complex in data processing, since camera signals are to be processed.

The object of the invention is therefore to provide a method for determining an emergency braking situation of a vehicle and an emergency braking system, with which an emergency braking situation of a vehicle can be detected easily and reliably and the triggering of possible false alarms to the driver or faulty autonomous emergency braking can be at least reduced ,

This object is achieved by a method according to claim 1 and an emergency braking system according to claim 12. Preferred developments are specified in the subclaims.

The invention has recognized that stationary objects located next to or above the roadway are often irrelevant for determining the probability of collision. According to the invention, an object (stationary object) recognized as standing, which is located in an environment along a direction of travel of its own vehicle, in particular commercial vehicle, is accordingly provided on the basis of a relative movement with respect to at least one object detected as moving (moving object). to make it plausible to determine how relevant the object recognized as standing is with regard to a collision probability or emergency braking situation. In this case, an object identified as stationary for assessing an emergency braking situation is classified as less relevant if at least one object detected as being moving, which is also located in the surroundings along the direction of travel of the own vehicle, drives past the stationary object to be plausible, via the latter passed or passed under it, d. H. this has happened unscathed.

Thus, according to the invention, it is recognized that on the basis of a preceding or moving object that passes through the stationary or stationary object-preferably without adapting the driving behavior to the stationary object, that is to say the vehicle. H. z. B. to adjust a speed significantly or avoid the stationary object - can be assessed whether and how much the stationary object is relevant to the own vehicle with regard to an emergency braking situation.

According to one embodiment, the assessment of the relevance of the standing object to be plausibility-related can only take place as a function of moving objects which at least partially move in their own lane and pass through the stationary object. As a result, the stationary objects relevant to one's own vehicle at the current time can be reliably and reliably recognized, since these are to be taken into account mainly in an imminent emergency braking situation for the own vehicle. This can optimize the amount of data to be processed.

The assessment of relevance takes place here in an emergency braking system, in particular in an emergency brake control unit, which determines a collision probability or the presence of an emergency braking situation based on the objects detected in the direction of travel of the vehicle and issues emergency braking signals in the presence of an emergency braking situation, either initially to a warning signal to spend the driver or autonomously initiate emergency braking, depending on whether the driver can still respond. In this case, the collision probability can be assessed, in particular, based on a distance, a relative speed and an angle of the own vehicle to the respectively detected object. If an emergency braking situation is detected, i. H. if the collision probability is high, the emergency braking system issues emergency braking signals to the braking system of the vehicle, which then controls the brakes of the vehicle or warning lights in the vehicle accordingly.

In order to evaluate an emergency braking situation, only the objects classified as relevant - ie. H. both standing and moving objects - used. In this case, an object that could potentially collide with the own vehicle on the basis of the current driving situation is to be classified as relevant, wherein this classification takes place according to the invention on the basis of the relative movement of a moving object to a stationary object.

Thus, it can be advantageously estimated by a simple observation of the preceding traffic, in particular by observation of a relative movement of moving objects to stationary objects in front of the own vehicle, whether a stationary object can be neglected for an emergency braking situation, so that no unnecessary warning messages to a stationary Issued object that can not be touched by the own vehicle in the current - especially predicated - driving situation anyway. Thus, advantageously based on the current present driving situation, whether a stationary object, such as a warning sign or a bridge above the road, a sign, a guardrail or a tree on the roadside, or a manhole cover or other objects in the road level are relevant. For this decision, advantageously no additional components in the vehicle are necessary because the observation of traffic in an emergency braking system is carried out anyway, so that, for example, an adaptation of the software on the emergency brake control unit is sufficient to achieve this functionality; This can minimize costs and retrofitting costs.

The stationary or the at least one moving object in the environment in front of the own vehicle is advantageously detected by an environment detection system which has, for example, a radar sensor or a LIDAR sensor. For this purpose, electromagnetic radiation is emitted by the environmental detection system in the direction of travel of the vehicle and detected by the radar sensor and the LIDAR sensor electromagnetic radiation that has been reflected by the objects in the environment. The environment detection system preferably emits the electromagnetic radiation in an angular range, so that it is also possible to detect several objects at the same time, which may also be located on an adjacent traffic lane or next to or above the roadway. The environment detection system can be integrated here in the emergency braking system or the emergency braking system uses existing environment detection systems in their own vehicle.

On the basis of the reflected electromagnetic radiation, the emergency braking system can close, for example in the emergency brake control unit, in particular to a distance, a relative speed and an angle to each detected object and assign, for example, each identified object an identification, so that the object with the respective identification in a unique way observed over time and in particular the distance, the angle and the relative speed can be stored to this identification.

As a result, according to the invention, a relative position of a moving object relative to a stationary object can be monitored simply and reliably by, for example, a distance and an angle between the vehicle and the stationary object as well as between the vehicle and the moving object at different, successive times be recorded. From the change in the relative position between a first time and a subsequent second time, the relative movement between the stationary and the moving object can be analyzed. It can be determined according to the invention, whether the moving object has passed the stationary object, d. H. in particular, whether the distance between the own vehicle and the moving object has become greater than the distance between the own vehicle and the stationary object.

Preferably, it can also be taken into account here whether the moving vehicle has slowed down drastically when passing the stationary object or the speed has been maintained approximately, this information following from the relative speed to the own vehicle. From this it can be advantageously concluded whether and how the moving object has reacted to the stationary object and whether this reaction is possibly also to be considered for the own vehicle.

Advantageously, the assessment of the relevance of a recognized standing object takes place in stages, i. H. a relevance level is defined for the respective standing object, which is adjusted step by step. If a stationary object is detected by the environment detection system, the relevance level of this stationary object is initially set to, for example, 100% by the emergency braking system. H. the stationary object is classified as highly relevant and thus used for the evaluation of an accident situation. If the first moving object passes the standing object, the relevance level is increased by a certain value, e.g. B. 5%, lowered. For each additional moving object that has passed the standing object, the relevance level is lowered by another 5%. Brakes a moving object behind the standing object, d. H. If the relative speed decreases significantly, the relevance level can be increased by, for example, 5%. For example, if the relevance level is greater than 90%, the emergency braking system may consider the subject in question for collision probability assessment and initiate emergency braking on that object, while at a relevance level between e.g. B. 70% -90% only a warning occurs when an increased probability of collision was detected on the stationary object. At less than 70%, the emergency braking system will no longer react to the stationary object.

Thus, the estimation of the relevance of a stationary object can advantageously be made safer, since a stationary object, for example a vehicle at the end of the jam, is not necessarily irrelevant if a moving vehicle overtakes the stationary object at a constant speed.

Furthermore, when assessing the relevance, an offset between the own vehicle and the moving object can additionally be included, wherein the offset is a distance to the moving object oriented transversely to the direction of travel of the own vehicle. The offset follows from the angle determined by the environment detection system and the distance of the own vehicle to the respective moving object. For example, changing the offset between the first time and the second time results in whether the moving object is turning around - if the offset changes by more than a width of its own lane - or if the moving object changes lane If the offset changes approximately by the width of its own traffic lane, for example to overtake or avoid the stationary object. When overtaking or dodging - ie when the offset changes by about the width of its own lane - this is to be considered accordingly in the classification of the relevance, since it is not certain whether the moving object has overtaken the stationary object or randomly another reason the lane has changed while passing under a bridge, for example. Thus, in this case it can not be determined with certainty on the basis of only one object, whether the stationary object is irrelevant and the relevance level is to be adapted accordingly.

If the offset changes such that cornering can be inferred, the relative position changes such that the moving object passes through the stationary object, i. H. this obsolete, it can be concluded that the stationary object possibly recognized directly in front of the own vehicle is not located in the own traffic lane, but is arranged in a curve next to the roadway, since the stationary object has been overtaken by the moving object. In that case the relevance level can be adjusted accordingly, i. H. be reduced.

In the event that there is no cornering, but that the moving object has overtaken the stationary object, d. H. If there is any doubt, additional criteria may be taken into account in order to avoid misidentification of such a recognized object. Thus, for example, additional consideration may be given to how high the reflectance, ie. H. is an intensity of the reflected electromagnetic radiation of the stationary object and how the reflectance varies with distance. Furthermore, an object width or an object type of the stationary object can also be taken into account.

In a first stage, therefore, the offset or the change of the offset between the first time and the second time can be considered. If, due to the above-mentioned reasons, this does not provide reliable information about the relevance of the stationary object, the further criteria - reflectance over time, object width and object type - can be taken into account in a second stage, as a function of which the relevance level is adjusted.

Preferably, the method according to the invention is carried out only when the vehicle is on a highway or an inter-urban road, i. H. a vehicle speed of the own vehicle is normally greater than, for example, 55 km / h. As a result, the amount of processing data can be limited and the reliability can be increased since, for example, in city traffic, many street signs and possibly parked cars make it difficult to reliably determine a relevance level of a stationary object and thus evaluate an emergency braking situation.

The relevance level of a stationary object can preferably also be additionally influenced by the offset to the own vehicle. The offset of the stationary object to the own vehicle can be determined by means of an angle in the vehicle transverse direction at different times. If the angle of the stationary object increases in a straightforward travel of the own vehicle in a predetermined area, then it is to start from a lateral object next to the own lane, which appears irrelevant and therefore has to be assigned a particularly low relevance level. When cornering, the angle of the stationary object with respect to the continuously increasing angle of a moving object in the own lane barely or not, so that then go out from a side object next to the own lane, which appears irrelevant and therefore with a special low relevance level.

The invention will be explained in more detail with reference to embodiments. Show it:

1 a vehicle with an emergency braking system;

2a , b, c driving situations of the vehicle according to 1 ;

3a , b, c alternative driving situations of the vehicle according to 1 ; and

4 a flow chart of the inventive method.

According to 1 is a vehicle 1 , in particular a commercial vehicle, provided, which is a braking system 2 , In particular, an electrically controlled pneumatic, electric or hydraulic brake system comprises. In the brake system 2 are in particular service brakes 4 provided, which is controlled by a brake control unit 3 the wheels 5 of the vehicle 1 can slow down to the vehicle 1 to delay. As part of the braking system 2 is still an emergency braking system 6 with an emergency brake control unit 7 provided, wherein the emergency brake control unit 7 according to this embodiment as an external emergency brake control unit 7 with the brake control unit 3 is connected and can exchange emergency brake signals S1.

The vehicle speed vFzg can be determined, for example, by means of the wheel speeds of individual wheels in relation to their wheel circumference, whereby mean values, eg. B. arithmetic, in particular axle or vehicle, are possible. Furthermore, the vehicle speed vFzg may be, for example, by means of the environment detection system 8th with a corresponding sensor, such. As radar, lidar, camera, etc., are determined by the distances of the own vehicle 1 be determined at different times relative to the ground or an object recognized as stationary. A determination of the vehicle speed vFzg by means of a sensor in the transmission of the vehicle and conversion, for example, a transmission speed is possible.

The emergency brake control unit 7 is designed to initiate emergency braking as a function of emergency braking criteria K by detecting a corresponding emergency braking signal S1 to the brake control unit when an imminent emergency braking situation is detected 3 which then causes a brake, causing the vehicle 1 is slowed down. The emergency braking here is autonomous, ie without the driver having to intervene, brought about. Alternatively or additionally, by the emergency brake control unit 7 Issued emergency brake signal S1 also only the issuing of a warning signal can be made to the driver of the vehicle 1 to warn in advance of an impending emergency braking situation. The driver may then possibly even a braking of the vehicle 1 initiate and / or initiate a steering.

To recognize an emergency braking situation based on the emergency braking criteria K takes the emergency brake control unit 7 Sensor signals S2 of an environment detection system 8th on and processed this. The environment detection system 8th has a sensor according to this embodiment 8.1 For example, a radar sensor or a LIDAR sensor, and emits electromagnetic radiation 9 in front of the vehicle 1 or in a direction of travel F lying environment U from, wherein the electromagnetic radiation 9 is radiated in an angular range B, so that the environment U in an angular range B can be monitored.

The electromagnetic radiation 9 becomes moving objects 15.1 . 15.2 (Moving objects) as well as standing objects 10.i , i = 1, 2, ..., 5 (stationary objects) in front of the vehicle 1 reflected in such a way that part of the objects 10.i . 15.1 . 15.2 reflected electromagnetic radiation 9a back to the environment detection system 8th is thrown back. The environment detection system 8th detects this part of the reflected electromagnetic radiation 9a and evaluates this, for example by comparing the radiated electromagnetic radiation 9 in the angle range B with the reflected electromagnetic radiation 9a , From the evaluation, in particular a distance Aj to the respective object 10.i . 15.1 . 15.2 , an angle ω.j to the respective object 10.i . 15.1 . 15.2 with respect to the direction of travel F of the vehicle 1 and from a Doppler effect measurement on a relative velocity vr.j of the respective object 10.i . 15.1 . 15.2 relative to your own vehicle 1 getting closed. The index "i" and the index "j" in this case run over different ranges of values, wherein the distance Aj, the angle ω.j and the relative velocity vr.j each with respect to one of the objects 10.i . 15.1 . 15.2 stand, ie the distance A.1 gives the distance to the stationary object 10.1 , ..., and the distance A.6 the distance to the moving object 15.1 on, etc .. D. h. "J" according to this embodiment runs from 1 to 7 (i + 2) due to the two moving objects 15.1 . 15.2 ).

Thus, by the environment detection system 8th the environment U in the angular range B in front of the vehicle 1 about the electromagnetic radiation 9 scanned and the distance Aj, the angle ω.j and the relative velocity vr.j for each detected object 10.i . 15.1 . 15.2 determined and the respective object 10.i . 15.1 . 15.2 assigned in the emergency brake control unit 7 be stored. This information about the distance Aj, the angle ω.j, and the relative velocity vr.j can be used for the respective object 10.i . 15.1 . 15.2 be stored, so that in a simple way the movement of the respective object 10.i . 15.1 . 15.2 can be observed over time.

With this information about the individual objects 10.i . 15.1 . 15.2 can the emergency brake control unit 7 Based on emergency braking criteria K decide whether an emergency braking situation exists or how high a collision probability P for the own vehicle 1 with the respective recognized object 10.i . 15.1 . 15.2 is. An emergency brake criterion K can be, for example, whether the own vehicle 1 With the current relative velocity vr.j and the current distance Aj to a forward standing or moving object 10.i . 15.1 . 15.2 can brake in time, without, for example, a collision with personal injury to the respective object 10.i . 15.1 . 15.2 comes. Furthermore, the emergency braking criterion K can be fulfilled if for the own vehicle 1 no possibility to avoid a detected object 10.i . 15.1 . 15.2 can be determined. This check is for every detected object 10.i . 15.1 . 15.2 performed in the angle range B.

The emergency brake control unit 7 In their assessment of the probability of collision P draws both moving objects 15.1 . 15.2 (Moving objects) as well as standing objects 10.i (Stationary objects) in the direction of travel F of their own vehicle 1 lie. Whether a moving object 15.1 . 15.2 or a standing object 10.i is present, for example, based on the relative speed vr.j of the own vehicle 1 relative to the respective object 10.i . 15.1 . 15.2 are determined, wherein the relative velocity vr.j for j = i at a stationary object 10.i the negative of the vehicle's own vehicle speed vFzg 1 corresponds, ie vr.j = -vFzg for j = i.

As moving objects 15.1 . 15.2 In particular, other vehicles come 15.1 . 15.2 who are also on the road 11 ie on the same lane 11a or on one of the adjacent lanes 11b , move, into consideration. As stationary objects come in accordance with the driving situation in 2a and 2 B one above the roadway 11 arranged warning sign 10.1 for example, a speed limit or a jam warning, or one above the lane 11 running bridge 10.2 into consideration. According to the driving situation in the 3a . 3b and 3c can continue a sign 10.3 or a tree 10.4 , each next to the roadway 11 can be detected as stationary objects. Furthermore, also a stationary vehicle 10.5 (S. 2a . 2 B ) are recognized, for example, at a jam end as a stationary object.

To be able to reliably determine a collision probability P without false alarms, the stationary objects are 10.i , i = 1, ... 4 next to or above the carriageway 11 that are irrelevant to a collision, from the stationary objects 10.5 on the roadway 11 , especially the own roadway 11a to distinguish. The emergency brake control unit 7 has thus first on the basis of the environment detection system 8th supplied sensor signals S2 to decide whether a detected stationary object 10.i is relevant for the evaluation of the collision probability P and possibly the output of an emergency braking situation, with a relevance level Ri for the respective stationary object 10.i is determined. Lies the relevance level Ri of the respective stationary object 10.i above a first limit value G1 of, for example, 70%, this is taken into account in the determination of the collision probability P, while it is disregarded in the case of a low relevance level Ri of Ri <G1.

This is done after recognizing a stationary object 10.i According to the invention, a relative movement between the stationary object 10.i and a likewise located in the environment U, moving object 15.1 . 15.2 considered, ie it is the relative position of the stationary object 10.i to the moving object 15.1 . 15.2 at different, consecutive times t1, t2, t3, t4, t5 considered and analyzed. These are only moving objects 15.1 . 15.2 taken into account at the first time t1 of the own vehicle 1 from in the direction of travel F seen in front of the stationary object 10.i located, ie this has not happened yet. A distance A.6, A.7 of your own vehicle 1 to the moving object 15.1 . 15.2 is thus less than a distance Aj, for j = i of the own vehicle 1 to the stationary or stationary object 10.i , This is to make it plausible as follows, whether a recognized, moving object 15.1 . 15.2 the standing object 10.i can happen or not:
This is done according to the driving situation in 2a at a first time t1 a first stationary-object distance AS1 between the vehicle 1 and the warning sign recognized as a stationary object 10.1 above the roadway 11 whose relevance is to be checked, and a first moving-object distance AB1 between the vehicle 1 and the moving object 15.1 considered. Since the first moving-object distance AB1 is less than the first stationary-object distance AS1, it becomes 2 B at a subsequent second time t2, a second stationary-object distance AS2 of the warning sign 10.1 and a second moving-object distance AB2 of the moving object 15.1 detected. According to 2 B has the moving object 15.1 The warning sign 10.1 that is, the second moving object distance AB2 of the moving object 15.1 is now greater than the second stationary-object distance AS2 of the warning sign 10.1 above the roadway 11 ,

The emergency brake control unit 7 can therefore the relevance level R.1 with respect to the warning sign 10.1 decrease as the moving object 15.1 without damage to the warning sign 10.1 has passed or could drive under this. In addition, it can also be considered whether the relative velocity vr.j between the moving object 15.1 and the vehicle 1 for example, more than 5 km / h or a lateral offset 13 between both by more than one width 14 your own lane 11a when passing through the warning sign 10.1 has changed, ie whether the moving object 15.1 on the warning sign 10.1 has reacted in any way.

After this systematics can also bridge 10.2 as a standing object above the roadway 11 plausibility check to determine its relevance level R.2.

According to the alternative driving situation in the 3a . 3b and 3c In particular, this can be laterally next to the roadway 11 located information sign 10.3 as well as the tree 10.4 be made plausible as standing objects. For this purpose, at a third time t3, a third stationary-object distance AS3 between the vehicle 1 and the sign recognized as a standing object 10.3 next to the roadway 11 whose relevance is to be tested, and a third moving object distance AB3 between the vehicle 1 and the moving object 15.1 considered. Since the third moving object distance AB3 is smaller than the third stationary object distance AS3, a fourth stationary object distance AS4 of the sign becomes at a subsequent fourth time t4 10.3 and a fourth moving-object distance AB4 of the moving object 15.1 detected. According to 3b has the moving object 15.1 the information sign 10.3 that is, the fourth moving object distance AB4 of the moving object 15.1 is now greater than the fourth stationary-object distance AS4 of the sign 10.3 next to the roadway 11 ,

The emergency brake control unit 7 can therefore the relevance level R.3 with respect to the sign 10.3 decrease as the moving object 15.1 undamaged at the sign 10.3 has passed or could overtake this. In addition, it can also be considered whether the relative velocity vr.j between the vehicle 1 and the moving object 15.1 for example, more than 5 km / h or a first offset 13.1 (S. 3b ) between both by more than one width 14 your own lane 11a when passing the sign 10.3 has changed, ie whether the moving object 15.1 on the sign 10.3 has reacted in any way.

According to this system, the tree can also 10.4 as a standing object next to the roadway 11 be plausible, with the tree 10.4 additionally in a curve 12 next to the roadway 11 located. The tree 10.4 is in the case of the emergency braking system 6 initially as an object in the same lane 11a like your own vehicle 1 registered, as this is approximately in the direction of travel F in front of your own vehicle 1 located and the emergency brake system 6 not aware of the curve 12 Has. To distinguish in this case, whether the tree 10.4 or generally one next to the roadway 11 standing object in a curve 12 is relevant to the evaluation of the collision probability P, is in the determination of the relative movement between the moving object 15.1 and the plausibilizing standing object - here the tree 10.4 - additionally an offset 13.1 . 13.2 to be included, in particular from the angle ω.6 to the respective object - here the moving object 15.1 - results (s. 3c ). Accordingly, at the fourth time t4, a first offset additionally becomes 13.1 between the vehicle 1 and the moving object 15.1 considered. This changes according to 3c at a fifth time t5, to which the moving object 15.1 around the bend 12 moves. At the fifth time t5, there is also a fifth moving object distance AB5 of the moving object 15.1 greater than a fifth stationary-object distance AS5 of the tree 10.4 and a second offset 13.2 is greater than the first offset 13.1 and also larger than the width 14 own lane, so that it can be concluded that the moving object 15.1 the tree 10.4 has happened and doing a turn 12 drove.

Thus, the emergency brake control unit 7 in addition, the offset 13.1 . 13.2 monitor. It detects that the offset 13.1 . 13.2 of the moving object 15.1 at least one width 14 your own lane 11a has changed and the moving object distance AB is greater than the stationary object distance AS to conclude that a stationary object -. B. a tree 10.4 - next to the carriageway 11 in a curve 12 exists and the relevance level R.4 with respect to the tree 10.4 reduce accordingly.

Thus, either one above the roadway 11 lying stationary object 10.1 . 10.2 or one next to the roadway 11 lying stationary object 10.3 . 10.4 or a stationary vehicle 10.5 on your own lane, for example 11a , are identified or made plausible by recognizing whether a moving object by analyzing the relative movements to each other 15.1 . 15.2 this standing object 10.i happens. Preferably, this plausibility check is carried out only at vehicle speeds vFzg of, for example, more than 55 km / h or only on highways (highway) or highways (inter-urban) or highways, so that the emergency brake control unit 7 the amount of data to be processed can be reduced. For example, in urban traffic there are too many objects standing by the emergency brake control unit 7 not all can be processed and monitored.

Furthermore, the processed amount of data in the determination of the relevance level Ri can be optimized by the relevance level Ri of a standing object 10.i only depending on one's own lane 11a moving object 15.1 . 15.2 takes place. Only this is for your own vehicle 1 actually relevant at the current time. In an overtaking process of your own vehicle 1 can the relevance level Ri accordingly to the new own lane 11a be adjusted.

In addition, the relevance level Ri of the respective stationary object is provided 10.i adjust gradually, so that misjudgments can be avoided, which can occur, for example, when a moving vehicle 15.1 . 15.2 a stationary vehicle 10.5 on the roadway 11 For example, overtaken, ie the lane 11a . 11b as in 2c indicated changes, ie an offset 13 changes and the moving object 15.1 . 15.2 the stationary vehicle 10.5 happens, this stationary vehicle 10.5 however for the own vehicle 1 is relevant. Thus, at least one other moving object becomes 15.2 when looking at the relative movement at the different times t1, t2, t3, t4, t5 used. Will for another moving object 15.2 detects a driving behavior that indicates a relevance of the stationary object 10.5 indicates, the relevance level Ri can be raised. Otherwise it will be lowered further.

For example, the relevance level Ri can vary from 100% (relevant) to 0% (irrelevant). Does not have a moving object yet 15.1 . 15.2 the plausibilizing standing object 10.i happens, lies the relevance level Ri, which is used to evaluate the collision probability P with respect to the respective stationary object 10.i used, at 100%. A plausibility check with a moving object 15.1 . 15.2 can lead to a reduction of the relevance level Ri from 100% to 95% and to another moving object 15.1 . 15.2 from 95% to 90%, etc. At a relevance level Ri that is above a second threshold G2 of, for example, 95%, the emergency brake controller may select 5 on the respective standing object 10.i emergency braking is initiated, while at 90% or less, only a warning signal is given. If the relevance level R, i falls below the first limit value G1, ie below, for example, 70%, no further warning signal is output, the respective stationary object 10.i So it is left unconsidered. In addition, the relative velocity vr.j of the moving object changes 15.1 . 15.2 and if the moving object distance AB remains smaller than the stationary-object distance for the relevant objects, then the relevance level Ri is correspondingly increased, as are other moving objects 15.1 . 15.2 on the plausibilizing stationary object 10.i brake.

In order to be able to further narrow the relevance level Ri, it is also possible to take into account how well the electromagnetic radiation 9 from the stationary or moving object 10.i . 15.1 . 15.2 is reflected, ie how high a reflectance or an intensity I of the reflected electromagnetic radiation 9a in particular also compared to other known objects, for example, in the emergency brake control unit 7 can be stored. For this purpose, it is also possible to evaluate the change in the intensity I as a function of the distance Aj, ie whether and how the intensity I of the reflected electromagnetic radiation 9a changed depending on the distance Aj. This can be based on the type or object type OT of the stationary object 10.i be closed and thus an irrelevant stationary object 10.i be distinguished from a relevant one.

To improve the reliability, the determination of the distance Aj to a stationary or moving object 10.i . 15.1 . 15.2 be plausibilized by comparing the change in the distance Aj over time with the relative velocity vr.j obtained from the Doppler effect measurement.

Furthermore, an object width OB of the stationary object can also be used to check the relevance level Ri 10.i be taken into account. For example, has a sign 10.3 or a tree 10.4 at the edge of the roadway 11 a different object width OB than a stationary vehicle 10.5 at a jam end. A warning sign 10.1 above the roadway 11 can be unlike a stationary vehicle 10.5 continue, for example, over the entire lane 11 be extended. All these criteria can additionally be used in the assessment of the relevance level Ri.

The method according to the invention runs, for example, as follows:
First, in an initial step St0, the emergency brake system will be activated 6 initialized, for example by starting the vehicle 1 ,

In a first step St1 is taken by the environment detection system 8th at least one standing object 10.i and at least one moving object 15.1 . 15.2 detected and the respective stationary or moving object 10.i . 15.1 . 15.2 associated information, such as the distance Aj between the own vehicle 1 and the respective standing or moving object 10.i . 15.1 . 15.2 and / or an angle ω.j to the respective stationary or moving object 10.i . 15.1 . 15.2 with respect to the direction of travel F of the vehicle 1 and / or from a Doppler effect measurement, a relative velocity vr.j of the respective stationary or moving object 10.i . 15.1 . 15.2 relative to your own vehicle 1 , via the sensor signal S2 to the emergency brake control unit 7 transmitted. The standing object 10.i will be in the following steps in the emergency brake control unit 7 plausibilized or checked for their relevance Ri for assessing a probability of collision P.

For this purpose, in a second step St2 a relative movement of the at least one moving object 15.1 . 15.2 to the standing object 10.i monitored, in particular by the distance Aj between the two - ie, a stationary object distance AS and a moving object distance AB - at successive times t1, t2, t3, t4, t5 is determined, so that from the temporal evolution of the stationary Object distance AS and the moving object distance AB at the successive times t1, t2, t3, t4, t5 a temporal change of the relative position between the at least one moving object 15.1 . 15.2 and the standing object 10.i can be determined.

According to an optional step St2.1 can also change the relative velocity vr.j and a change in the offset 13.i . 13.1 . 13.2 be taken into account, which is additionally evaluated at the successive times t1, t2, t3, t4, t5, whether the moving object 15.1 . 15.2 relative to your own vehicle 1 has become faster or slower and / or an offset 13 has changed between the two. It also implies whether the moving object 15.1 . 15.2 on the standing object 10.i has reacted in any way when driving by.

Based on the change in the relative position or the relative movement of the at least one moving object 15.1 . 15.2 to the standing object 10.i In a subsequent third step St3, a relevance level Ri for the standing object is determined 10.i determined, taking into account in particular whether the moving object 15.1 . 15.2 the standing object 10.i has happened and the standing object 10.i thus less relevant to the assessment of the collision probability P. In addition, according to an optional step St3.1, an intensity I of the reflected electromagnetic radiation 9a , an object type OT and / or an object width OB are taken into account.

According to a further optional step St3.2, at least one further moving object becomes 15.2 . 15.1 used for the assessment of the relevance level Ri of the standing object 10.i , Ie. becomes for a stationary object 10.i The relevance level Ri decreases because it is from any moving object 15.1 . 15.2 has happened, the relevance level Ri for this standing object 10.i by considering other moving objects 15.2 . 15.1 be reviewed and further adapted. Pass also other moving objects 15.2 . 15.1 this standing object 10.i , the relevance level Ri becomes for this standing object 10.i further reduced. On the other hand, another moving object reacts 15.2 . 15.1 on this standing object 10.i becomes the relevance level Ri for this standing object 10.i raised again.

Depending on the determined relevance level Ri, in a fourth step St4 a collision probability P for the stationary object is determined 10.i determined on the basis of emergency braking criteria K.

If there is an emergency braking situation due to this, in a fifth step St5 a corresponding emergency brake signal S1 is sent to the brake system 2 this being dependent on the relevance level Ri of the respective stationary object 10.i he follows. For example, a relevance level Ri for a stationary object 10.i which is greater than the second limit value G2 (= 90%), becomes the respective stationary object 10.i taken into account in the assessment of an emergency braking situation and with an appropriate collision probability P causes an automated emergency braking via the emergency brake signal S1. Is the relevance level Ri for the standing object 10.i at 90% or less, only the issuing of a warning signal is caused by the emergency brake signal S1, so that the driver may even be able to initiate emergency braking himself. On the other hand, if the relevance level R, i falls below the first limit value G1, ie below, for example, 70%, then no warning signal is also output, the respective stationary object 10.i remains unconsidered; the emergency brake signal S1 is suppressed.

LIST OF REFERENCE NUMBERS

1

vehicle

2

braking system

3

Brake control unit

4

service brakes

5

bikes

6

emergency braking system

7

Emergency braking system control unit

8th

Environment acquisition system

8.1

Sensor, radar sensor, LIDAR sensor

9

electromagnetic radiation

9a

reflected electromagnetic radiation

10.i

Stationary objects

10.1

Warning sign above (stationary object)

10.2

Bridge (stationary object)

10.3

Information sign next to the carriageway (stationary object)

10.4

Tree (stationary object)

10.5

stationary vehicle on carriageway (stationary object)

11

roadway

11a

own lane

11b

adjacent lane

12

Curve

13

offset

13.1

first offset

13.2

second offset

14

Width of your own lane 11a

15.1, 15.2

moving objects (moving object)

A.J.

distance

FROM

Moving-object distance

AB1

first moving object distance

STARTING AT 2

second moving object distance

FROM 3

third moving object distance

FROM 4

fourth moving object distance

FROM 5

fifth moving object distance

AS

Stationary-object-distance

AS1

first stationary-object distance

AS2

second stationary-object distance

AS3

third stationary-object distance

AS4

fourth stationary-object distance

AS5

fifth stationary-object distance

B

angle range

F

direction of travel

G1

first limit

G2

second limit

I

Intensity reflected electromagnetic radiation 9a

K

Emergency braking criteria

IF

object width

OT

Property type

P

probability of collision

R.i

Relevance level of the object 10.i

S1

Emergency braking signals

S2

Sensor signals

t1

first time

t2

second time

t3

third time

t4

fourth time

t5

fifth time

U

environment

vFzg

vehicle speed

vr.j

relative speed

ω.j

angle

St1, St2, St2.1, St3, St3.1, St3.2, St4, St5

Steps of the procedure

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10015300 A1 [0004]
• EP 0924119 B1 [0005]
• DE 102005024716 A1 [0007]
• EP 2405416 B1 [0009]

Claims (14)

Method for determining an emergency braking situation of a vehicle ( 1 ), in particular commercial vehicle with an emergency braking system ( 6 ), with at least the following steps: - Detecting objects ( 10.i . 15.1 . 15.2 ) in an angular range (B) along a direction of travel (F) of the vehicle ( 1 ), whereby moving objects ( 15.1 . 15.2 ) and standing objects ( 10.i , i = 1, ..., 5) are detected (St1); characterized in that - the objects identified as standing ( 10.i ), whereby a relevance level (Ri) for each stationary object ( 10.i ) (St3, St3.1, St3.2), whereby the relevance level (Ri) of the stationary object ( 10.i ) is determined depending on whether the moving object ( 15.1 . 15.2 ) the standing object ( 10.i ) has happened (St2, St2.1); A collision probability (P) with respect to the stationary object ( 10.i ) as a function of the determined relevance level (Ri) of the stationary object ( 10.i ) is assessed (St4); and - an emergency brake signal (S1) is output or suppressed as a function of the collision probability (P) (St5). Method according to claim 1, characterized in that for determining whether the moving object ( 15.1 . 15.2 ) the standing object ( 10.i ), a stationary-object distance (AS) between the vehicle ( 1 ) and the standing object ( 10.i ) and a moving-object distance (AB) is taken into account, wherein it is determined whether the moving-object distance (AB) at a first time (t1) is smaller than the stationary-object distance (AS) and to a subsequent time (t2, t3, t4, t5) greater than the stationary-object distance (AS). Method according to claim 1 or 2, characterized in that for determining the relevance level (Ri) of the stationary object ( 10.i ), it is additionally taken into account whether, when passing the stationary object ( 10.i ) a relative speed (vr.j) between the vehicle ( 1 ) and the moving object ( 15.1 . 15.2 ) for judging whether the moving object ( 15.1 . 15.2 ) on the standing object ( 10.i ) has reacted. Method according to one of claims 1 to 3, characterized in that for determining the relevance level (Ri) of the stationary object ( 10.i ), it is additionally taken into account whether, when passing the stationary object ( 10.i ) an angle (ω.φ) between the own direction of travel (F) and the moving object ( 15.1 . 15.2 ) or an offset ( 13 ; 13.1 . 13.2 ) between the vehicle ( 1 ) and the moving object ( 15.1 . 15.2 ) for judging whether the moving object ( 15.1 . 15.2 ) on the standing object ( 10.i ) has reacted. Method according to one of the preceding claims, characterized in that for determining the relevance level (Ri) of the stationary object ( 10.i ) several objects detected and moving in the angular range (B) ( 15.1 . 15.2 ), where for each object ( 10.i ) passing and moving object ( 15.1 . 15.2 ) the relevance level (Ri) is gradually reduced. Method according to one of the preceding claims, characterized in that for determining the relevance level (Ri) of the stationary object ( 10.i ) additionally an object width (OB) and / or an object type (OT) is taken into account. Method according to one of the preceding claims, characterized in that the objects ( 10.i . 15.1 . 15.2 ) using an environment detection system ( 8th ), whereby the environment detection system ( 8th ) electromagnetic radiation ( 9 ) and from the objects ( 10.i . 15.1 . 15.2 ) reflected electromagnetic radiation ( 9a ) with a sensor ( 8.1 ), for example a radar sensor or a LIDAR sensor, detected and depending thereon a distance (Aj) and / or an angle (ω.j) and / or a relative speed (vr.j) to the respective, in particular stationary or moving, object ( 10.i . 15.1 . 15.2 ). A method according to claim 7, characterized in that for determining the relevance level (Ri) of the stationary object ( 10.i ) additionally an intensity (I) of the reflected electromagnetic radiation ( 9a ) is taken into account. Method according to one of the preceding claims, characterized in that as standing objects ( 10.i ) a warning sign ( 10.1 ) and / or a bridge ( 10.2 ) above a carriageway ( 11 ) and / or a sign ( 10.3 ) and / or a tree ( 10.4 ) next to the carriageway ( 11 ) and / or a stationary vehicle ( 10.5 ) on the road ( 11 ) can be recognized and made plausible. Method according to one of the preceding claims, characterized in that the relevance level (Ri) of the stationary object ( 10.i ) only as a function of moving objects ( 15.1 . 15.2 ), at least partly on its own lane ( 11a ) while keeping the stationary object ( 10.i ) happen. Method according to one of the preceding claims, characterized in that at a relevance level Ri of the stationary object ( 10.i ) from - greater than a second limit value (G2), for example 90%, the collision probability (P) with respect to this stationary object ( 10.i ) is determined and on detection of an emergency braking situation via the emergency brake signal (S1) a request for an automated emergency braking is output, or - less than the second threshold (G2) and greater than a first threshold (G1), for example 70%, the collision probability ( P) with respect to this stationary object ( 10.i ) is determined and upon detection of an emergency braking situation via the emergency brake signal (S1) a request for issuing a warning signal is output, or - less than the first limit value (G1), the outputting of an emergency braking signal (S1) is suppressed. Emergency braking system ( 6 ) of a vehicle ( 1 ), in particular commercial vehicle, in particular for carrying out the method according to one of claims 1 to 11, wherein the emergency braking system ( 6 ) Sensor signals (S2) of an environmental detection system ( 8th ), whereby the environment detection system ( 8th ) the stationary and / or moving objects ( 10.i . 15.1 . 15.2 ) in the angular range (B) and information (Aj, ω.j, vr.j) with respect to the respective stationary and / or moving object ( 10.i . 15.1 . 15.2 ) via the sensor signals (S2) to the emergency braking system ( 6 ), whereby the emergency braking system ( 6 ) an emergency brake control unit ( 7 ), which is designed, based on the sensor signals (S2), a relevance level (Ri) of standing objects detected in the angular range (B) ( 10.i ), wherein the relevance level (Ri) depends on whether at least one moving object ( 15.1 . 15.2 ) the recognized standing object ( 10.i ) and based on the relevance level (Ri) of the detected stationary object ( 10.i ) a collision probability (P) with respect to the stationary object ( 10.i ) and then output or suppress a corresponding emergency brake signal (S1). Emergency braking system ( 6 ) according to claim 12, characterized in that the emergency braking system ( 6 ) for recognizing the stationary and / or moving objects ( 10.i . 15.2 . 15.2 ) a sensor ( 8.1 ), in particular a wheel sensor or a LIDAR sensor, which of the standing and / or moving objects ( 10.i . 15.2 . 15.2 ) reflected electromagnetic radiation ( 9a ) detected. Vehicle ( 1 ), in particular commercial vehicle, with an emergency braking system ( 6 ) according to claim 12 or 13, in particular for carrying out the method according to one of claims 1 to 11, wherein the vehicle ( 1 ), a braking system ( 2 ) with brakes ( 4 ) has for braking the vehicle ( 1 ) in particular as a function of the emergency brake signal (S1).

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