Method and apparatus for warning of the wrong-way travel of a vehicle after an accident and/or a safety-critical driving situation, especially after an interim standstill of the vehicle

• US 10,435,034 B2
• Filed: 08/22/2018
• Issued: 10/08/2019
• Est. Priority Date: 08/28/2017
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Koehler, Armin, Foltin, Johannes Ludwig
• Primary Examiner(s): Murillo Garcia, Fabricio R
• Application Number:
  US16/109,335
• Publication Number:
  US 20190061784A1
• Time in Patent Office: 412 Days
• Field of Search: 3404255
• CPC Class Codes: B60R 2021/0027 Post collision measures, e.g. notifying emergency services
• CPC Class Codes: B60R 21/0136 responsive to actual contact with an obstacle , e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle monitoring crash strength in combination with passenger seat detection B60R21/01558
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/06 Direction of travel
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/39 the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G01S 2205/01 specially adapted for specific applications
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G08G 1/056 with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/162 event-triggered

Abstract

A method for warning of the wrong-way travel of a vehicle after an accident and/or a safety-critical driving situation, especially after an interim standstill of the vehicle, the method including a detecting task, in which a change in a direction of travel of the vehicle after an accident is detected. Finally, the method includes a task of providing a warning signal, the warning signal being provided as a function of a detected change in the direction of travel of the vehicle, to output the warning of the wrong-way travel of the vehicle after the accident and/or the safety-critical driving situation.

Claims

1. A method comprising:

detecting, by a vehicle, occurrence of an accident or an emergency event that adversely affects a driver of the vehicle to drive the vehicle;

detecting that a direction of travel of the vehicle has changed from a first travel direction before the detected occurrence of the accident or emergency event to a second travel direction after the detected occurrence of the accident or emergency event, wherein a possible cause for the travel of the vehicle in the second travel direction instead of the first travel direction is determined to be a loss of orientation of the driver of the vehicle due to the accident or emergency event; and

responsive to the determination, which is based on a combination of the detection of the occurrence of the accident or emergency event and the detection of the change of the direction of travel, triggering output of a warning of wrong-way travel by the vehicle indicating to the driver that the vehicle is traveling in the second travel direction instead of the first travel direction, wherein the warning of wrong-way travel is output when the second travel direction is out of a tolerance range deviation from the first travel direction.

2. The method of claim 1, wherein the triggering is performed conditional upon that the second travel direction is angularly offset from the first travel direction by at least a predefined threshold angular offset.

3. The method of claim 1, wherein the change in the direction of travel is detected using a magnetic-field signal that represents a magnetic field of Earth.

4. The method of claim 1, wherein the change in the direction of travel is detected using a signal of a global positioning system.

5. The method of claim 1, wherein the change in the direction of travel is detected using an environment-comparison signal that represents a position determined prior to and after the occurrence of the accident or emergency event, and the determination of the position is performed (a) optically by radar and/or lidar, (b) by ultrasound, and/or (c) based on a detection of a type of at least one structural fixture in a vehicle environment.

6. The method of claim 1, wherein the change in the direction of travel of the vehicle is detected using a driving-direction sensing signal that represents a direction of travel of external road users.

7. The method of claim 1, wherein the change in the direction of travel is detected using a sun-position signal that represents a shadow cast by an object.

8. The method of claim 1, wherein the triggering is performed conditional upon that the second travel direction is angularly offset from the first travel direction by at least a number of degrees that is within a tolerance range of 180°

.

9. The method of claim 1, wherein the output of the warning includes transmitting a warning signal to a road user external to the vehicle.

10. The method of claim 1, wherein the triggering is performed based on satisfaction of a condition that a driving-environment sensor used for detecting the change is not recognized as defective.

11. The method of claim 1, wherein the change in the direction of travel is detected using (a) a sun-position signal that represents a shadow cast by the vehicle or by a stationary object and/or (b) a brightness signal.

12. The method of claim 1, wherein the output of the warning includes transmitting a warning signal to a road user external to the vehicle, the warning signal being transmitted via at least one of a visual arrangement, an acoustic arrangement, and a radio link.

13. The method of claim 1, wherein the triggering is performed responsive to a determination of satisfaction of a condition that the second travel direction is detected within a predefined threshold amount of time from the detection of the occurrence of the accident or emergency event.

14. The method of claim 1, wherein the triggering is performed based on satisfaction of a condition that there is not a detection of a plurality of external vehicles traveling in the second travel direction.

15. The method of claim 1, wherein the change in the direction of travel is detected using a brightness signal.

16. An apparatus of a vehicle, the apparatus comprising:

a sensor arrangement; and

a processor, wherein the processor is configured to;

detect, based on output of the sensor arrangement, (a) occurrence of an accident or an emergency event that adversely affects a driver of the vehicle to drive the vehicle and (b) that a direction of travel of the vehicle has changed from a first travel direction before the detected occurrence of the accident or emergency event to a second travel direction after the detected occurrence of the accident or emergency event, wherein a possible cause for the travel of the vehicle in the second travel direction instead of the first travel direction is determined to be a loss of orientation of the driver of the vehicle due to the accident or emergency event; and

responsive to the determination, which is based on a combination of the detection of the occurrence of the accident or emergency event and the detection of the change of the direction of travel, trigger output of a warning of wrong-way travel by the vehicle indicating to the driver that the vehicle is traveling in the second travel direction instead of the first travel direction, wherein the warning of wrong-way travel is output when the second travel direction is out of a tolerance range deviation from the first travel direction.

17. The apparatus of claim 16, wherein the processor is configured to perform the triggering of the output of the warning based on the detection of the change in the direction of travel only if the second travel direction is determined by the processor to be associated with a travel of the vehicle after a standstill of the vehicle that occurs after the detection of the occurrence of the accident or emergency event.

18. The apparatus of claim 16, wherein the processor is configured to perform the triggering of the output of the warning based on the detection of the change in the direction of travel only if the second travel direction is detected within a threshold maximum amount of time after the detection of the occurrence of the accident or emergency event.

19. A non-transitory computer readable medium on which are stored instructions that are executable by a processor of a vehicle and that, when executed by the processor, cause the processor to perform a method, the method comprising:

detecting occurrence of an accident or an emergency event that adversely affects a driver of the vehicle to drive the vehicle;

detecting that a direction of travel of the vehicle has changed from a first travel direction before the detected occurrence of the accident or emergency event to a second travel direction after the detected occurrence of the accident or emergency event, wherein a possible cause for the travel of the vehicle in the second travel direction instead of the first travel direction is determined to be a loss of orientation of the driver of the vehicle due to the accident or emergency event; and

responsive to the determination, which is based on a combination of the detection of the occurrence of the accident or emergency event and the detection of the change of the direction of travel, triggering output of a warning of wrong-way travel by the vehicle indicating to the driver that the vehicle is traveling in the second travel direction instead of the first travel direction, wherein the warning of wrong-way travel is output when the second travel direction is out of a tolerance range deviation from the first travel direction.

20. The non-transitory computer readable medium of claim 19, wherein the triggering is performed conditional upon that the second travel direction is angularly offset from the first travel direction by at least a predefined threshold angular offset.