Collision prevention system for vehicles

• US 20040181338A1
• Filed: 11/10/2003
• Published: 09/16/2004
• Est. Priority Date: 05/08/2001
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Inventors: Dobler, Guenter, Enigk, Holger, Rothe, Siegfried, Marwitz, Hartmut
• Granted Patent: US 7,109,854 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The invention relates to a system for preventing collisions of an automobile with obstacles. Sensors mounted in the automobile detect the area surrounding the vehicle. The signals of said sensors are evaluated by a data processing device in order to calculate the available obstacle-free driving space. Other sensors additionally detect the position of all movable vehicle parts (e.g. a trailer) and the dynamic parameters of the current driving situation (e.g. speed, steering angle, etc.). Based on said data, the driving speed required during the following time intervals in order to continue driving is calculated in advance by the data processing device and compared with the actually available obstacle-free driving space that has been detected. Said comparison provides early forecast regarding a possible collision. The driver is warned of a possible collision danger by corresponding warning devices and can consequently react in time. In critical situations (e.g. high driving speed), direct interventions in the control of the vehicle by the data processing device can take place to assist the driver.

Claims

1. A method for preventing a vehicle colliding with obstacles, distance values between the vehicle and obstacles in the surroundings being sensed and the driving space which is available being calculated from these distance values, values relating to the current movement (speed, direction of travel, deceleration etc.) of the vehicle being additionally sensed and the driving space which is required to continue the journey being calculated from these values in conjunction with values of the dimensions of each vehicle, a comparison between the existing driving space and required driving space being subsequently carried out, and measures for preventing collisions being initiated when the required driving space extends beyond the existing driving space, characterized in that the values of the dimensions of the veh Abt-Fulrad-StraBe 4icle are read out of a memory, which is configured in such a way that a plurality of different vehicle contours can be stored in it.

2. The method as claimed in claim 1, characterized in that the values of the dimensions of the vehicle can be transmitted in wire-free fashion into the memory of the data processing system.

3. The method as claimed in one of claims 1 or 2, characterized in that, in addition to the dimensions of the vehicle, the structural properties of the vehicle (the position of the axles, support and length of the drawbar, etc.) which also determine the driving behavior (for example turning circle, swinging out of protuding or carried parts, etc.) can be included in the calculation of the required driving space.

4. The method as claimed in one of claims 1 to 3, characterized in that in the case of moving vehicle parts (for example trailers) information relating to the current position of these vehicle parts (for example obliquely positioned drawbar) is included in the calculation of the required driving space.

5. The method as claimed in one of claims 1 to 4, characterized in that the required driving space and existing driving space are calculated at time intervals (t₀, t₁, t₂, . . . ), these intervals following one another in such brief succession that changes to the existing driving space (for example caused by movement of other vehicles) and of the required driving space (for example as a result of braking or changing of direction of the vehicle) are sensed with appropriate speed so that measures initiated when there is a risk of collision prevent a collision.

6. The method as claimed in one of the preceding claims, characterized in that a spatial safety distance between the vehicle and obstacles is included by virtue of the fact that correspondingly reduced dimensions of the existing driving space and/or enlarged dimensions of the required driving space are used to carry out the comparison.

7. The method as claimed in one of the preceding claims, characterized in that the measures initiated to prevent collisions may include

the triggering of warning signals (optical, audible, visual or haptic),

a change in the dimensions of the vehicle (for example as a result of external mirrors folding in, the retraction of spoilers, swinging out of crane superstructures etc.)

changes in the maneuverability of the vehicle (for example, as a result of ride control, changing the length of the drawbar, etc.),

intervening in the control of the vehicle (for example steering, brakes, shifting of gears).

8. The method as claimed in one of the preceding claims, characterized in that the measures for preventing collisions are initiated in a sequence which is determined by the chronological proximity of a collision.

18. The apparatus as claimed in one of the preceding claims, characterized in that that the data processing system is carried in the vehicle as a mobile system.

19. The apparatus as claimed in one of the preceding claims, characterized in that the vehicle is connected to a stationary data processing system via a wire-free connection.

9. An apparatus for preventing a vehicle colliding with obstacles, having means for sensing distance values between vehicle components and obstacles in the surroundings of the vehicle, means for sensing movement parameters of the vehicle (speed, direction of travel, deceleration, etc.), the existing driving space being calculated from the distance values by means of a data processing system, the driving space which is required to continue driving being additionally calculated from the movement parameters in conjunction with values of the dimensions of the vehicle, and a comparison between the existing driving space and required driving space being carried out, devices being present which, in the case of a calculated expansion of the required driving space beyond the existing driving space, are actuated by the data processing system in order to prevent a collision, characterized in that a memory which is configured in such a way that a plurality of different vehicle contours can be stored in it is provided for storing the values of the dimensions of the vehicle.

10. The apparatus as claimed in claim 9, characterized in that the apparatus has a communications unit by means of which the values of the dimensions of the vehicle can be transferred into the memory of the data processing system in a wire-free fashion.

11. The apparatus as claimed in one of claims 9 and 10, characterized in that the data processing device also includes, in the calculation of the required driving space, information relating to the structural properties of the vehicle (position of the axles, support and length of the drawbar, etc.) which also determine the driving behavior of the vehicle (for example, turning circle, swinging out of protruding or carried parts, etc.).

12. The apparatus as claimed in one of claims 9 to 11, characterized in that there are means which, in the case of moving parts of vehicles (for example trailer), sense the current position of these parts of vehicles (for example obliquely positioned drawbars) and these values are included in the calculation of the required driving space by means of the data processing system.

13. The apparatus as claimed in one of claims 9 to 12, characterized in that the data processing system determines the required driving space and existing driving space at time intervals (t₀, t₁, t₂, . . . ), these intervals following one another in such short succession that changes to the existing driving space (for example caused by movement of other vehicles) and to the required driving space (for example due to braking or a change in direction of the vehicle), are sensed with appropriate speed so that the devices for preventing a collision are actuated by the data processing system at such an early time that a collision is prevented.

14. The apparatus as claimed in one of the preceding claims 9 to 13, characterized in that a spatial safety distance between the vehicle and obstacles is included by virtue of the fact that, before the comparison is carried out, the data processing system reduces the dimensions of the existing driving space by computational means and/or increases the dimensions of the required driving space.

15. The apparatus as claimed in one of the preceding claims 9 to 14, characterized in that the devices for preventing a collision may include

means for triggering warning signals (for example optical, audible, visual, haptic),

means for changing the dimensions of the vehicle (for example by folding in external mirrors, retracting spoilers, swinging out crane superstructures, etc.),

means for changing the maneuverability of the vehicle (for example ride control, changing the length of the drawbar, etc.),

means for intervening in the control of the vehicle (for example steering, brakes, shifting of gears).

16. The apparatus as claimed in one of the preceding claims 9 to 15, characterized in that the devices for preventing a collision are actuated by the data processing system in a sequence which is determined by the chronological proximity of a collision.

17. The apparatus as claimed in one of the preceding claims 9 to 16, characterized in that the means for sensing distance values between parts of a vehicle and obstacles are embodied as optical (for example infrared), or audible (for example ultrasonic) distance measuring sensors or as radiation sensors (radar, laser), or as video cameras or as electronic devices for determining position/surroundings (GPS).