WO2022189550A1

WO2022189550A1 - Collision avoidance for a vehicle

Info

Publication number: WO2022189550A1
Application number: PCT/EP2022/056136
Authority: WO
Inventors: Andreas Knoll; Marc Schieß; Matthias FRIEDL
Original assignee: Zf Friedrichshafen Ag
Priority date: 2021-03-12
Filing date: 2022-03-10
Publication date: 2022-09-15
Also published as: DE102021202424A1

Abstract

Disclosed is a method (200) for avoiding a collision of a vehicle (105) with a movable object (110), said method comprising steps of detecting (210) the movable object (110) in the surroundings of the vehicle (105); identifying (225) an impending collision of the vehicle (105) with the movable object (110); and outputting (230) a collision warning to the movable object (110).

Description

Collision avoidance for a vehicle

The present invention relates to collision avoidance between a vehicle and a moving object.

A motor vehicle includes a control device that is set up to detect an object in the area surrounding the motor vehicle and to determine whether a collision with the object is imminent. For this purpose, the surroundings can be scanned using a camera, a radar sensor or a LiDAR sensor, for example. If it is found to be probable that a collision with the object is imminent, active intervention can be made in controlling the motor vehicle in order to still avoid the collision. If a driver of the motor vehicle comes to a different assessment of the situation, he can prevent the intervention and control the motor vehicle himself.

Which control measures are carried out to avoid the collision and which are not, is usually determined solely by the vehicle. In particular, if the object includes a pedestrian, this is usually not included in avoiding the collision or minimizing the consequences of a collision.

DE 102014 110958 A1 shows a system for warning a user. The system includes a first vehicle-pedestrian communication device. The first device is operable by a pedestrian. The system further includes a driver operable vehicle having a second device for vehicle-pedestrian communication. The system is designed to issue a warning to the driver and/or the pedestrian via the first device and/or the second device.

It is an object of the present invention to provide an improved technique for avoiding or mitigating a collision of a vehicle with a moving object. The invention solves this problem by means the subject matter of the independent claims. Subclaims reflect preferred embodiments.

According to a first aspect of the present invention, a method for avoiding a collision of a vehicle with a moving object comprises the steps of detecting the moving object in the vicinity of the vehicle; determining an imminent collision of the vehicle with the moving object; and providing a warning of the collision to the moving object.

In particular, the moving object can include a person who, according to the invention, can be warned of the impending collision. In response to the warning, the person can, for example, perform emergency braking, even if it is a pedestrian or cyclist, or avoid the vehicle. If necessary, the person can also increase their speed on an original path in order to leave a danger area around the vehicle as early as possible. The warning may also cause the person to intuitively tense a muscle part, potentially mitigating damage to health from a vehicle impact. If the object includes several people, one person can protect another, for example by an adult picking up a child or taking them out of an acute danger zone in some other way.

The warning includes an indication of a probable trajectory of the vehicle. In one embodiment, the warning is directed to a controller of the moving object and may include, for example, a driving parameter or a planned driving maneuver of the vehicle. In a preferred embodiment, however, the warning is directed at a person surrounded by the moving object and is kept as generally understandable as possible. The reference to the trajectory can in particular include a direction in which the vehicle is steering or intends to steering. For example, a direction indicator or indicator can be set in the appropriate direction. In order to enable a quick detection of the direction signal, the indicator can be equipped with an increased frequency are operated. An indication of an intended or upcoming deceleration of the vehicle may also be provided.

The impending collision is determined if a minimum distance between the vehicle on a probable trajectory and the object on a probable trajectory falls below a predetermined distance. For this purpose, a first anticipated trajectory of the vehicle and a second anticipated trajectory of the object can be determined. As the distance from a current location of the vehicle or the object increases, the reliability of the determination of the trajectory can decrease. To determine the distance, the trajectories can be determined under predetermined assumptions. For example, an assumption may include changing one of the trajectories to avoid the collision.

The warning can be provided in the area of the vehicle and in particular can be visual and/or acoustic. An acoustic warning can be provided by means of an acoustic signaling device of the vehicle, in particular a horn, a fanfare or a bell. A loudspeaker can also be used, via which a warning tone, a signal sequence or a spoken message can be output. A visual warning can be provided by means of an optical lighting or signaling device of the vehicle, in particular by means of a headlight, a signal light, a position light or a direction indicator. A dedicated acoustic or optical output device can also be provided.

In a further developing embodiment, the warning is transmitted to the object and output there. For this purpose, the object can include a corresponding receiving device for the transmitted signal and an output device for the warning. The output can be directed to a person surrounded by the object and in particular can be acoustic, visual or haptic. The output can also be directed to a control device of the moving object and can include, for example, a request for a movement maneuver of the object. The vehicle can be controlled depending on a trajectory of the object to avoid the collision. It is preferred that intervening in the vehicle's trajectory and providing the warning are used as a staggered means of avoiding the collision. A predetermined time, which can be a few seconds, can lie between the two measures. In a first embodiment, a warning can already be issued when a collision is less likely, and an intervention in the trajectory can take place when the collision has become more likely. Conversely, in a second embodiment, an intervention in the trajectory can already take place when the probability of a collision is lower, and a warning of the collision can only be provided when the probability is higher.

The method is particularly suitable for protecting a moving object that includes a weak or vulnerable road user. This is also referred to as VRU (vulnerable road user). It should be noted that a person can also unintentionally participate in road traffic. In general, behavior relevant to traffic, which can have an effect on a traffic process, is regarded as a prerequisite for a moving object to be a road user. The object usually includes a person.

It can be determined whether the moving object includes a person who is particularly worthy of protection or is at risk. The person can be found to be particularly worthy of protection as a young, old or frail person. In one embodiment, it is determined that the object includes a pedestrian.

It can also be determined that the object comprises a two-wheeler rider. For example, a bicycle, a scooter, a moped, a moped or a motorcycle can be regarded as a two-wheeler. The object may also be determined to include a board rider using, for example, a skateboard, hoverboard, snakeboard, or similar riding board. In another embodiment, the object may be determined to include a person with roller skates or roller blades. The vehicle is generally set up to transport at least one person and usually offers them a protected space, for example in the form of a passenger compartment. The vehicle usually has at least two wheels, more preferably four wheels in two lanes. It is also preferred that the vehicle includes a motor vehicle, in particular a motorcycle, a passenger car, a truck or a bus. With regard to possible consequences of a collision between the vehicle and the object, it can be determined that the object or a person surrounded by it is more endangered, more vulnerable or weaker than the vehicle or a person on board.

According to a further aspect of the present invention, a first device on board a vehicle comprises a scanning device for detecting a moving object in the vicinity of the vehicle; processing means for determining an imminent collision of the vehicle with the moving object; and means for providing a signal indicative of the collision. The first device can be permanently installed on board the vehicle. A component of the first device may serve yet another purpose onboard the vehicle. The first device may be integrated with another system onboard the vehicle, such as a system for automatically braking and/or avoiding the vehicle to avoid an impending collision with the object.

According to still another aspect of the present invention, a second apparatus for avoiding a collision between a vehicle and a moving object comprises receiving means for a signal indicating an impending collision with a vehicle; and an output device for providing a warning of the collision in the area of the object. The second device can, for example, be in the form of a mobile device that is encompassed by or carried along by the moving object. In one embodiment, for example, a smartphone, a tablet computer, a laptop or a smart watch can be used as the second device. A processing device described herein can be set up to carry out a method described herein in whole or in part. For this purpose, the processing device can comprise a programmable microcomputer or microcontroller and the method can be present in the form of a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to a device described herein or vice versa.

According to yet another developing aspect of the present invention, a vehicle comprises a first or second device described herein.

A system includes a first device described herein and a second device described herein. Either or both of the devices may be mounted onboard a vehicle. It is preferred that a first vehicle on which the first device is attached can be considered more or less vulnerable to the collision than a second vehicle on which the second device is attached. Features or advantages of the system may be applied to an apparatus or method described herein, or vice versa.

The invention will now be described in more detail with reference to the attached figures, in which:

Figure 1 shows a system; and

FIG. 2 shows a flow chart of a method.

FIG. 1 shows a system 100 that includes a vehicle 105 and a moving object 110 . A first device 115 is fitted on board the vehicle 105 and a second device 120 can be provided in the area of the object 110 . The vehicle 105 preferably comprises a motor vehicle, in particular one Passenger cars, and the moving object 110 includes at least one person.

For the present purposes, it is assumed that in the event of a collision between the vehicle 105 and the object 110, there are generally no equivalent accident opponents, but that the object 110 must expect more serious health or material damage than the vehicle 105, even if this one or more people are located. In particular, the moving object 110 may include a pedestrian, a scooter rider, a cyclist, or a motorcyclist.

At the point in time under consideration, vehicle 105 is moving on a first trajectory 125 and object 110 on a second trajectory 130. Trajectories 125, 130 can be assumed to be probable trajectories, with certainty of determination being able to decrease as the time interval from a current situation increases.

The first device 115 on board the vehicle 105 comprises at least one scanning device 135, a processing device 140 and an output device 145. The scanning device 135 is set up to scan an environment 150 of the vehicle 105 and preferably comprises a radar sensor, a UDAR sensor or a camera . More preferably, the scanning device 145 comprises a plurality of sensors 135, the signals provided by which can be compared or fused with one another. Processing device 140 is set up to process signals provided by at least one sensor 135 and to determine an imminent collision of vehicle 105 with moving object 110 .

In addition, an interface 155 can be provided on the first device 115 via which the vehicle 105 can be controlled or via which communication can take place with a device for controlling the vehicle 105 . It is preferred that providing a warning of the impending collision and controlling the vehicle 105 to avoid the collision are coordinated with one another.

The output device 145 can be used to provide a collision warning to the moving object 110 or to a person surrounded by it. For this purpose, an output device 145 attached to the vehicle 105 can be used, which in particular is an optical device such as a display device, a lamp or a light; or may include an acoustic device such as a loudspeaker, horn or horn.

The output device 145 can also be set up to emit a signal indicating the impending collision to the object 110 and in particular to the second device 120 in the area of the object 110 . In particular, the signal can be transmitted wirelessly, for example by means of radio waves. The second device 120 can be implemented, for example, as a mobile device like a smartphone and is preferably set up to receive a signal that indicates an impending collision between a vehicle 105 and the object 110 . The signal can include more precise circumstances of the predicted collision, for example a first or second trajectory 125, 130 on which the determination is based, an indication of a planned or already initiated maneuver of the vehicle 105 or a request for the object 120 to carry out a predetermined maneuver, to avert the collision. A specific location or a specific time of the collision can also be indicated.

The second device 120 preferably comprises a communication device 160 for receiving the signal. A processing device can be provided for validating or processing the signal. In addition, an output device 165 is preferably provided in order to provide a warning to the object 110 or the person surrounded by it. The warning can be output optically as indicated in FIG. 1; however, a haptic output is also possible, for example by means of a vibration generator, or an acoustic output. FIG. 2 shows a flow chart of a method 200, which can be executed in particular by means of first device 115 on board vehicle 105. In a step 205, the surroundings 150 of the vehicle 105 can be scanned. Sensor values from several sensors used for this purpose can be merged with one another or validated against one another.

In a step 210, an object 110 in the surroundings 150 can be detected on the basis of the data provided. The object 110 includes a human being who can participate in road traffic as a pedestrian. The object 110 can be classified and it can be determined whether it belongs to a class of objects 110 that are considered particularly worthy of protection or vulnerable. Such road users are also known as VRUs (vulnerable road users). For example, a VRU may include a child, an elderly, injured or infirm human, or a human with a disability. The object 110 may also include a person using a predetermined vehicle, where the vehicle may make the object 110 a VRU. Exemplary such means of transport include, for example, a bicycle, an electric scooter, a moped or a motorcycle. A means of transport that is often not permitted on a public road can also be affected, for example a skateboard, a monowheel or roller skates.

In a step 215, the first trajectory 125 of the vehicle 105 can be determined or predicted. In this case, information sources available on board vehicle 105 can be used in order to base the determination, for example, on a speed, a direction of travel, a steering angle, an acceleration or a driver-controlled or automatic control intervention. In a step 220, the second trajectory 130 of the object 110 can be determined. The second trajectory 130 can be determined on the basis of an observation of a location and/or a movement of the object 110 at one or preferably a plurality of points in time. In addition, a class of the object 110 can be used to infer its mobility. For example, an ability to rapidly change speed or direction can be considered can be very high for a child, while a scooter rider, for example, usually moves more continuously.

In a step 225 it can be determined whether there is a risk of a collision between the vehicle 105 and the object 110 . For this purpose, it can be determined that a minimum distance between the vehicle 105 and the object 110 falls below a predetermined threshold value, which can be zero. It may also be determined that a probability of the minimum distance being below the threshold exceeds another predetermined threshold. Both determinations can be related to a predetermined future period of time, which can be a few seconds, for example.

If it was determined that there is a risk of a collision, then in a step 230 the first device 115 can output a warning or a signal can be output to the second device 120 in the area of the object 110 . The second device 120 may provide the warning to the object 110 in response to the received signal.

Optionally, in a step 235 it can be determined whether the collision is likely. To this end, the determinations of step 225 can be carried out with other threshold values. In particular, it may be determined that a likelihood that the vehicle 105 will collide with the object 110 exceeds another threshold greater than the threshold used in step 225 to assess the likelihood.

If it was determined that the collision is probable, then in a step 240 the vehicle 105 can be controlled in order to prevent the collision or to mitigate the negative consequences of the collision. The control can in particular include braking and/or avoidance. A driver of the vehicle 110 may override an automatic control of the vehicle 110 under certain circumstances.

It should be noted that in another embodiment, a lower threshold regarding automatic intervention in the control of the vehicle 105 the probability of collision than providing a warning to object 110. In this sense, steps 230 and 240 can also be reversed.

Reference signs System Vehicle Moving object First device Second device First trajectory Second trajectory Scanning device Processing device Output device Environment Interface Communication device Output device Process Scan environment Recognize object Determine own trajectory Determine trajectory of object Risk of collision? Deploy Signal/Warning Collision Probable? control the vehicle

Claims

patent claims

1. Method {200) for avoiding a collision of a vehicle (105) with a moving object (110), the method (200) comprising the following steps: detecting (210) the moving object (110) in the vicinity of the vehicle (105) ; determining (225) an impending collision of the vehicle (105) with the moving object (110); and

providing (230) a warning of the collision to the moving object (110), the warning including an indication of an anticipated trajectory (125) of the vehicle (105), the impending collision being determined if a minimum distance between the vehicle (105) on a probable trajectory and the object (110) on a probable trajectory falls below a predetermined distance.

2. The method (200) according to any one of the preceding claims, wherein the warning in the area of the vehicle (105) is provided.

3. The method (200) according to any one of the preceding claims, wherein the warning is transmitted to the object (110) and output there.

4. The method (200) according to any one of the preceding claims, wherein the vehicle (105) depending on a trajectory (130) of the object (110) is controlled in order to avoid the collision.

5. The method (200) according to any one of the preceding claims, wherein it is determined that the object (110) comprises a pedestrian.

6. The method (200) according to any one of the preceding claims, wherein it is determined that the object (110) comprises a two-wheeler rider.

7. Device (115) on board a vehicle (105), the device (115) having a scanning device (135) for detecting a moving object (110) in the vicinity of the vehicle (105); a processing device (140) for determining an impending collision of the vehicle (105) with the moving object (110); and means (145) for providing a signal indicative of the collision.

8. Device (120) for avoiding a collision between a vehicle (105) and a moving object (110), wherein the device (120) comprises a receiving device (155) for a signal which indicates an imminent collision with a vehicle (105 ) indicates; and an output device (165) for providing a warning of the collision in the area of the object (110).

9. Vehicle (105), comprising a device (115, 120) according to one of claims 7 or 8.