Method and device for preventing collision of vehicles

• US 7,145,441 B2
• Filed: 07/17/2003
• Issued: 12/05/2006
• Est. Priority Date: 09/23/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Knoop, Michael, Staempfle, Martin, Oechsle, Fred
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): Fan, Hongmin
• Application Number:
  US10/497,751
• Publication Number:
  US 20050012602A1
• Time in Patent Office: 1,237 Days
• Field of Search: 340/435, 340/436, 340/903
• US Class Current: 340/435
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 2021/01272 Belt tensioners
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

In a method for preventing collisions of vehicles, first the surroundings of a vehicle 2 and motion parameters of the vehicle 2 are detected by means of sensors 2.1, 2.2, 2.3, 2.4, 2.5. From the output signals of the sensors, a failure-to-yield criterion and a collision risk criterion are derived. From a combination of the failure-to-yield criterion and the collision risk criterion, a risk level is ascertained. Depending on the particular risk level ascertained, finally, steps for reducing the risk of collision are initiated.

Claims

1. A method for preventing collisions of vehicles, wherein the surroundings of a vehicle and motion parameters of the vehicle are detected by means of sensors, characterized in that from the output signals of the sensors (2.1, 2.2, 2.3, 2.4, 2.5), a failure-to-yield criterion (V) is derived representing whether or not the vehicle approaching an intersection has the right of way and a collision risk criterion (K) is derived;

that from a combination of the failure-to-yield criterion and the collision risk criterion a risk level (A, B, C, D, E, F, G) is ascertained; and

that as a function of the particular risk level (A, B, G, D, E. F, G) ascertained, predetermined steps for reducing the collision risk are initiated.

2. The method of claim 1, wherein the failure-to-yield criterion (V) and the collision risk criterion (K) are staggered as a function of risk in such a way that when the failure-to-yield criterion (V) and collision risk criterion (K) are combined, the result is a risk-dependent classification of the risk level.

3. The method of claim 1, wherein the predetermined steps for reducing the collision risk are staggered as a function of risk.

4. The method of claim 1, wherein the steps for reducing the collision risk include a warning to the driver, the preparation of vehicle systems for imminent use, active interventions into the steering system, the brake system and the engine control system, and the activation of restraint systems.

5. The method of claim 1, wherein the warning to the driver is effected by means of optical, acoustical and haptic signals.

6. The method of claim 1, characterized in that wherein the haptic signals include a vibration of the vehicle pedals and/or of the steering column of the vehicle (2).

7. The method of claim 1, wherein the surroundings of the vehicle (2) and the motion parameters of the vehicle (2) are detected by means of on-board sensors (2.1, 2.2, 2.3, 2.4, 2.5).

8. The method of claim 1, wherein the surroundings of the vehicle (2) are detected by means of at least one video system (2.1).

9. The method of claim 1, wherein the surroundings of the vehicle (2) are additionally detected with at least one radar system (2.2).

10. The method of claim 1, wherein motion parameters of the vehicle (2) are detected with a plurality of sensors, in particular by means of wheel rotation sensors (2.3), yaw rate sensors (2.4), and steering angle sensors (2.5).

11. The method of claim 1, wherein the failure-to-yield criterion (V) is ascertained from the data on the surroundings, detected by at least one video system (2.1), such as the course of the travel lane, traffic signs, and the traffic light situation, and from motion parameters of the vehicle to itself, such as its travel speed and vehicle acceleration, and from the ascertained wishes of the driver.

12. The method of claim 1, wherein the collision risk criterion (K) is derived from the motion parameters, obtained by means of the on-board video system (2.1) and/or radar system (2.2), of other vehicles (3, 4) forming the cross traffic, and from the motion parameters of the vehicle (2) itself, obtained by further sensor systems, such as the wheel rotation sensor (2.3), yaw rate sensor (2.4) and steering angle sensor (2.5).

13. An apparatus for performing the method of claim 1, characterized in that the apparatus includes sensors for detecting the surroundings, such as at least one video system (2.1) and optionally in addition at least one radar system (2.2) or lidar system, and a plurality of sensors for detecting motion parameters of a vehicle (2), such as in particular a wheel rotation sensor (2.3), a yaw rate sensor (2.4), and a steering angle sensor (2.5);

that the apparatus further includes one function module (20) for processing the output signals of the sensors (2.1, 2.2) and one function module (22) for processing the output signals of the sensors (2.3. 2.4. 2.5);

that the apparatus furthermore includes one function module (24) for ascertaining a failure-to-yield criterion (V) from the output signals of the function modules (21, 22), wherein the failure-to-yield criterion (V) is determined representing whether or not the vehicle approaching an intersection has the right of way, and one function module (25) for ascertaining a collision risk criterion (K) from the output signals of the function modules (22, 23);

that the apparatus furthermore includes one function module (26) for processing the output signals of the function modules (24, 25), in which processing, from a combination of the failure-to-yield criterion (V) and the collision risk criterion (K), a risk level (A, B, C, D, E, F, G) is determined, and in which the apparatus finally includes function modules (27, 28, 29, 30), which are triggerable by output signals of the function module (26) and which, as a function of the type of risk level (A, B, C, D, E, F, G), furnish control signals for controlling optical, acoustical and haptic signal devices, restraint systems, the engine controller, the brake system, and the steering system of the vehicle (2).

14. An apparatus for performing the method of claim 1, characterized in that the apparatus includes sensors for detecting the surroundings, such as at least one video system (2.1) and optionally in addition at least one radar system (2.2) or lidar system, and a plurality of sensors for detecting motion parameters of a vehicle (2), such as in particular a wheel rotation sensor (2.3), a yaw rate sensor (2.4), and a steering angle sensor (2.5);

that the apparatus further includes one function module (20) for processing the output signals of the sensors (2.1, 2.2) and one function module (22) for processing the output signals of the sensors (2.3, 2.4, 2.5);

that the apparatus furthermore includes one function module (44) for ascertaining a driver attentiveness criterion (A) from the output signals of the function modules (21, 22) and one function module (25) for ascertaining a collision risk criterion (K) from the output signals of the function modules (22, 23);

that the apparatus furthermore includes one function module (26) for processing the output signals of the function modules (24, 25), in which processing, from a combination of the driver attentiveness criterion (A) and the collision risk criterion (K), a risk level (A, B, C, D, E, F, G) is determined, and in which the apparatus finally includes function modules (27, 28, 29, 30), which are triggerable by output signals of the function module (26) and which, as a function of the type of risk level (A, B, C, D, E, F, G), furnish control signals for controlling optical, acoustical and haptic signal devices, restraint systems, the engine controller, the brake system, and the steering system of the vehicle (2).

15. The apparatus of claim 13, wherein the video system (2.1), the radar system (2.2), and the further sensors (2.3, 2.4, 2.5) are disposed fixedly in the vehicle (2), so that the vehicle (2) can autonomously detect both its own motion parameters and measurement data from its surroundings.